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…

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

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

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