# Voxl2 + flight core in custom frame

Source: https://forum.modalai.com/topic/1998/voxl2-flight-core-in-custom-frame
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-03-26 16:25:48 UTC by Tamas Pal 0
Replies: 4 · Views: 1309

## Tamas Pal 0 · 2023-03-26 16:25:48 UTC

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?

## Reply by Steve Turner · 2023-03-27 14:56:36 UTC

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.

## Reply by Tamas Pal 0 · 2023-04-12 11:49:16 UTC (in reply to Steve Turner)

@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?

## Reply by Steve Turner · 2023-04-13 14:57:29 UTC

Will be the VOXL2 IMU's.

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

## Reply by Tamas Pal 0 · 2023-05-01 04:58:28 UTC (in reply to Steve Turner)

@Steve-Turner Thanks