Can odom "imu_propagate" be replaced

[ice-lemons]

Is it possible to use "/mavros/local position/odom" as a odometer instead of vins "imu_propagate"? What changes need to be made

[bigsuperZZZX]

You can plot the output of the "/mavros/local position/odom" topic. If there is no significant data jump for all the position, orientation, velocity, then this topic can be used.