Center of VOXL 2 IMU?
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Hi! I have a VOXL2 and am designing mounting features for it on a drone. I'd like to keep the IMU measurements centered with the drone. I saw from your website what the coordinate frame is, but haven't been able to find what the origin of the IMU coordinate frame with respect to the VOXL2 would be. There's the line that "Note the XYZ axis as drawn respresent the IMU data as reported by the voxl-imu-server MPA service, not the physical orientation of the IMU on the PCB. This aligns with the FRD reference frame when mounted on a drone in the typical orientation such as on the Sentinel reference drone". I can't tell from the Sentinel drone resources where that is. Is the center of the VOXL2 width/length being used as the origin of the IMU data? Would it be the center of one of the specific IMUs (px4 or apps)?
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You can see the IMUs located in the mechanical drawings here: https://docs.modalai.com/voxl2-datasheets/
Does that help with what you are looking for?
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Kind of. I'd just like to know where the origin is of the IMU data reported by the voxl-imu-server MPA service (as quoted above). If it's at the center of one of the specific IMUs then that link is comprehensive to figure out the dimensions. But I haven't been able to find where that origin is. My guess is at the center of the board, but I'd like to confirm.
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