# Tilting the VOXL CAM forward

Source: https://forum.modalai.com/topic/1456/tilting-the-voxl-cam-forward
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: voxl-cam
Posted: 2022-10-17 15:47:54 UTC by Sem Andeweg
Replies: 2 · Views: 1003

## Sem Andeweg · 2022-10-17 15:47:54 UTC

The full VOXL CAM will be angled 15 degrees forward, so this means the VOXL as well as the global shutter camera will be tilted forward. The flight core is already fixed. But we now need to change extrinsics file. /etc/modalai/extrinsics.conf

I have read the whole https://docs.modalai.com/configure-extrinsics/ and seen the video. But cannot really confirm if I'm doing a good job. Could someone please help me with this? I dont know what ''RPY_parent_to_child" I need to change. And if you know to what XYZ value, please do .

## Reply by Steve Turner · 2022-10-17 18:27:05 UTC

@Sem-Andeweg 

I don't work for ModalAI but can try to help.

You need to adjust the IMU0, and IMU1 to body RPY at minimum, which stands for Roll, Pitch, Yaw.

If you look at the Seeker example at https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/misc_files/usr/share/modalai/extrinsic_configs/seeker_v1_voxlcam.conf#L64

you'll see the VOXL is rotated 90 degrees "up" and yawed 90 degrees right. From there the tracking camera is then rotated "down" 45 degrees to account for the VOXL CAM being mounted on the front of the Seeker and its orientation relative to the VOXL inside the camera housing.

Hope this helps a bit, definitely watch the video at https://docs.modalai.com/configure-extrinsics/

## Reply by Sem Andeweg · 2022-10-18 13:02:35 UTC

Hey @Steve-Turner, thanks for your answer, I will take a look into it!