Hey there,
I'm using the output of the QVIO in order to get the RPY in NWU coordinates, By manipulating the rotation matrix r_imu_to_vio I'm getting the right roll pitch and yaw in NWU coordinates, but something weird is happening when the qvio is failed and the camera is initialized and not leveled, then there is a wrong roll/pitch even after the camera is leveled again.
When I run from the adb-shell the "voxl-vision-px4 --debug_odometry_fixed", I can see that the gravity update function is being called and the roll/pitch are back to normal when the camera is leveled again.
Is there a config parameter that I'm missing here?