Align odometry with Pixhawk

[MaxwellHogan]

Heya,

I am trying to align the predicted odometry with the frame of a pixhawk (FRD) so I can use the predicted odometry as position estimate.

The problem I am having is that the starting orientation seems to not be aligned with any particular sensor (I am using an os1-128 rev7).

Instead it seems to be aligning to a world coordinate from which seems as far as I can tell arbitrary.

am i missing something? can I have it align to the lidar frame?

thanks, Max

[koide3]

The initialization process estimates the gravity direction (upward direction) and then adjusts the initial pose so that the upward direction is aligned with Z-axis.