@Adrian-Hidalgo
anything on this?

@Adrian-Hidalgo
Hey,
Sorry for the delay on this we were sent on a field deployment. I would like to open this conversation up again. I will have to get back to you with the answers to your questions above.
We have an interesting outdoor use case for your odometry. Have you all seen degraded performance in dusty environments with large dust clouds being kicked up by the drone on takeoff?

We noticed that our px4 flight core failed the accel cal out of the box on qgc.

We had to assign the folllowing orientation to the imu in order to pass accell cal and have the proper roll, pitch, yaw on the HUD after cal.

roll 90, pitch 180, yaw 90

This system seams to have not been flight tested or atleast calibrated out of the box.
We believe this system should have been calibrated from the factory.

We also noticed the setting on the voxel for the stereo camera orientation was inverted as well.

We ran through the camera configuration promt and inverted the stereo camera to be correct but are unsure what other configuration steps we need to do.

We saw many configuration scripts but have not found anything specifying imu orientation on the voxel.

We are noticing large drift (~2cm/s) and would like to know how to remediate this.

Are there any pre configured files or ways you guys can check our settings?