Looking at sensor_accel.msg and sensor_gyro.msg: sensor_accel.msg: float32 x # acceleration in the NED X board axis in m/s^2 float32 y # acceleration in the NED Y board axis in m/s^2 float32 z # acceleration in the NED Z board axis in m/s^2 sensor_gyro.msg: float32 x # angular velocity in th…

Thanks for the response. However, I’m still confused about this. Normally, IMU sensor data is in body frame coordinates as the IMU has no knowledge of compass direction. If the acceleration and angular velocity data have to be provided with respect to the NED frame with origin at center of mass o…

https://dev.px4.io/en/ros/external_position_estimation.html#asserting-on-reference-frames In the Asserting on Reference Frames section you can see a nice diagram. Basically the PX4 body frame has the x axis pointing towards the front and the z axis pointing down. This is the frame that you have to …

Clarify NED frame or body frame for accel and gyro sensor data inputs

Uncategorized

DanielePettenuzzo November 13, 2018, 8:20pm 2

In PX4 the body frame is a NED frame with the origin on the center of mass of the vehicle.

Inertial Reference Frame Origin of Pixhawk

Topic		Replies	Views
UAV frames Uncategorized	4	874	July 19, 2024
Sensor Frame Orientation Custom Simulation PX4 Autopilot	0	55	June 16, 2025
Issue: IMU frame doesn't match autopilot frame Pixhawk	3	837	March 21, 2019
Mavros setpoint_raw/attitude Uncategorized	6	3759	January 18, 2022
Reference frame Uncategorized	0	408	January 17, 2019

Clarify NED frame or body frame for accel and gyro sensor data inputs

Related topics