Can you use the Seeker VOXL Cam portion and put on another frame?
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Yup, you can take the Seeker VOXL Cam portion and put on another frame.
If you do, ensure that it's in the same orientation with the VIO or downward camera with a clear view.
For PID tuning, this PX4 guide is very helpful: https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html
Here's a link to PX4 helper parameter files that we use to switch between indoor and outdoor modes: https://gitlab.com/voxl-public/flight-core-px4/px4-parameters/-/tree/master/helpers/seeker