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