Voxl2 + flight core in custom frame

Tamas Pal 0

I am using voxl2 with flight core in a custom frame with a TOF sensor. I understand that I have to change the coordinates in extrinsics.conf file. Please give me a detailed answer what all changes I have to make in extrinsics.conf file for imu positions (which imu is for qvio and flight-core etc.). Is there anything else that I have to change other than extrinsics and mavlink configuration file for this set up?

Steve Turner

Extrinsics and QVIO server configuration will determine camera orientation and which IMU to use respectively.

https://docs.modalai.com/configure-extrinsics/

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/blob/master/server/config_file.h#L51

You will need to measure from the IMU (Parent) to child (camera) for translation in meters and also the roll, pitch, and yaw in degrees. I recommend watching the video on the configure extrinsics page.

Tamas Pal 0

@Steve-Turner Which imu should be used for imu_px4 in extrinsics file ? Will it be the same as voxl2's imu_px4 or it will be flight-core's imu?

Steve Turner

Will be the VOXL2 IMU's.

https://docs.modalai.com/configure-extrinsics/#voxl2 recommends using imu_apps for configuration.

Tamas Pal 0

@Steve-Turner Thanks