# Difference FRD board frame and FRD body frame

**URL:** <https://discuss.px4.io/t/difference-frd-board-frame-and-frd-body-frame/30289>\
**Category:** Uncategorized\
**Created:** [January 4, 2023, 7:27am UTC](https://discuss.px4.io/t/difference-frd-board-frame-and-frd-body-frame/30289 "2023-01-04T07:27:02Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![JohnnyLiu2886](https://discuss.px4.io/user_avatar/discuss.px4.io/johnnyliu2886/32/9675_2.png) [@JohnnyLiu2886](https://discuss.px4.io/u/JohnnyLiu2886)\
**Post date:** [January 4, 2023, 7:27am UTC](https://discuss.px4.io/t/difference-frd-board-frame-and-frd-body-frame/30289/1 "2023-01-04T07:27:02Z")

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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?

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**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\
**Post date:** [January 4, 2023, 8:44am UTC](https://discuss.px4.io/t/difference-frd-board-frame-and-frd-body-frame/30289/2 "2023-01-04T08:44:51Z")

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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.