estimate a combination of ways exactly where the user cameras pointed because while we have you know we have sensors on the gimbal that tell us where we think it is and we've commanded it to be somewhere it's also on a an isolation system and there are other changes there so we also additionally do visual estimation of between the user camera and the navigation cameras to to line those things up cool so here's just a quick visualization of the visual inertial Adamo tree system so on the bottom left are some features that are being tracked