Topics created by Ador

That should work fine, keep in mind that you should change the extrinsic with relation to imu0 as well, and that you may need to change the translation if you're not able to rotate it perfectly in place. VIO will converge internally to the actual rotation/translation values as long as they're close enough, but it can lead to errors if they're not.

Hi @Ador ,

Unfortunately it's not that straight forward. Most of the code won't be portable, the first candidates to be ported would be from here: https://gitlab.com/voxl-public/core-libs

The system image (what Yocto is building) has many hardware dependent items, and we aren't pulling the application layer in during the bitbake process, rather later on we install on top.

As an example, part of our software stack run on Hexagon DSP processor (a MAVLink parser) which wouldn't exist on RPi etc so it wouldn't work.