Integration of ArduPilot and VIO tracking camera (Part 5): Camera Position Offsets Compensation, Scale Calibration and Compass North Alignment (Beta)

Hi @RoboBill, if you follow the instruction in this blog from the beginning, you can do it again to download the file, apply the necessary changes for your system, and test it again.
There are also other options, such as this cpp program where the parameters are separated from the code so you can update the system much faster without modifying anything (just copy paste the param files that you used previously).