Posts made by Jagatpreet Nir

I just got my Sentinel with VOXL 2 installed on the drone. I want to another IMU and want to design a top mount. So, I am looking for dimensions and CAD models of the flight deck casing of VOXL - 2. Can you please provide me the CAD models?

I want to record flight rosbags will image rostopics from three different cameras for longer durations > 10 minutes. I am not sure if 256 GB SDXC card will work on VOXL

ok. But in the ros-topics I am getting messages at ~220 hz only. Do I need to configure anything to record the ros imu messages at 1 Khz.

Another clarification I will need is the mv-vislam library uses IMU from the modal pipes at 1 kHz with 30 Hz images from the camera server.

I recorded a rosbag from M500 and looked closely at the timestamps (header.stamp in ros messages) of my imu messages [IMU0) and image messages (tracking camera). I see that they are not synced. I am attaching the files in drive link for your perusal. The timestamp I am providing in the files is directly obtained from ros messages. There is no post processing.
https://drive.google.com/drive/folders/18PzGYlnwzXftc_U19rA7rDzj4ZeKoSEm?usp=sharing

Please clarify if the ros messages should be time synced for IMU0 and tracking camera as expected for a good VIO stack or I am missing something.
Another thing to note is I am seeing perfect time sync in the stereo images.

The VOXL documentation shows two IMUs imu1 (ICM-20948) and imu0 (ICM-42688-P). In the documentation, it is recommended to use imu 1 (ICM-20948) as it gives better VIO performance. https://docs.modalai.com/voxl-flight-datasheet-imus/

However, when I looked at the datasheets of these two IMUS - it is IMU0 (ICM-42688) that has lower gyroscopic and accelerometer noise and should perform better VIO for the same camera. The datasheet links are below

IMU1 datasheet

IMU0 datasheet

Please clarify.