Hello, I didn’t find the code to initialize the direction of gravity acceleration. Does it assume that the z-axis of the initial pose is parallel to the vertical line?

[XiaomingQu]

Hello, I didn’t find the code to initialize the direction of gravity acceleration. Does it assume that the z-axis of the initial pose is parallel to the vertical line?

[YJZLuckyBoy]

If you use the 9-Axis IMU, use the pose of the IMU as the initial position