Difference FRD board frame and FRD body frame

In the document of “sensor_accel” and “vehicle_acceleration”, the definition of the accel_x, accel_y and accel_z are difference.

For acceleration x, “sensor_accel” stated that it is the acceleration in “FRD board frame X-axis in m/s^2”. “vehicle_acceleration” stated that it is the bias corrected acceleration in “FRD body frame XYZ-axis in m/s^2”.

Is there any difference between FRD body frame and FRD board frame?

It sounds to me like vehicle_acceleration has the sensor location corrected, according to the params EKF2_IMU_POS_X, EKF2_IMU_POS_Y, EKF2_IMU_POS_Z. That’s just my guess. You’d have to check in source to verify that.

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