To log one camera image:

voxl-logger --cam tracking --samples 1

To log 5000 imu samples:

voxl-logger -i imu1 -s 5000 --note "primary imu test"

To log 1000 imu0 samples and 2000 imu1 samples:

voxl-logger -i imu0 -s 1000 -i imu1 -s 2000

To log every 5th imu sample (skip 4) for 5.5 seconds:

voxl-logger -i imu1 --skip 4 -t 5.5

To log tracking camera and both imus until you press ctrl-c

voxl-logger --preset_odometry

To record a typical log for testing VIO (imu + tracking) for 1 minute

voxl-logger --preset_odometry --time 60 --note "log for vio replay test 1"

notion link for more details on the hardware setup

TODO

• add support for different devices other than imu