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[ppoirier]

I cannot talk for VISO_TYPE 1 but for type 2 (T265), @LuckyBird has made a detailed explanation on Frame coordinates:

Integration of ArduPilot and VIO tracking camera (Part 4): non-ROS bridge to MAVLink in Python

[image] Introduction In this part of the ongoing labs, we will demonstrate how to make a MAVLink bridge between the Intel Realsense T265 and ArduPilot in Python, without the use of ROS. The choice of Python is strictly optional, and you can use any other wrappers supported by librealsense. Although this blog (non ROS-based) shares the same structure as part 2 (ROS-based), the content of the two are vastly different: Prerequisite System overview ArduPilot parameters Python packages installatio…