Some RISC-V instructions perform writes to 2 destinations, either 2 register or register or program counter. In cases if the source of one sub-operation matches a destination of another one, the order of result output is important. The examples are jalr and instruction operating with CSRs:

riscv/riscv-tests#258
riscv/riscv-tests#263

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Even though our VIO setup is accurate over longer time frames (as confirmed by trajectory plots), it suffers from jitter over shorter durations. We should add a low pass filter to the output of pose prediction to remove the jitter.
In terms of the actual choice of filter, the 1 Euro filter seems very appropriate as it has an [adaptive cut-off](https