Below describes the VOXL 2 Mini onboard sensors.
Note the XYZ axis as drawn respresent the IMU data as reported by the voxl-imu-server MPA service, not the physical orientation of the IMU on the PCB. This aligns with the FRD reference frame when mounted on a drone in the typical orientation such as on the Sentinel reference drone.
IMU Orientation Image Downloadable File Link Here
|Name / Designator||Description||Interface||MPA Pipe|
|PX4 IMU / IMU0 / U16||TDK ICM42688p||SSC_QUP5, SPI, SLPI (sDSP)||/run/mpa/imu_px4|
|Apps Proc IMU / IMU1 / U17||TDK ICM42688p||/dev/spidev3.0, SPI||/run/mpa/imu_apps|
|Name / Designator||Description||Interface|
|PX4 Baro 0 / BARO1 / U19||TDK ICP-10100||SSC_QUP4, I2C, SLPI (sDSP), Addr: 0x63h|