clover/docs/en/frames.md

Coordinate systems (frames)

Note

Documentation for the image, versions, starting with 0.15. For older versions refer to documentation for version 0.14.

Main frames in package clever:

• map coordinates relative to the point of flight controller initialization: the white grid in the illustration;
• base_link — coordinates relative to the quadcopter: schematic image of the quadcopter in the illustration;
• body — coordinates relative to the quadcopter regardless of pitch and roll: red, blue and green lines in the illustration.

Hint In accordance with the agreement, for frames associated with the copter, the X-axis directed forward, Y – to the left, and Z – up.

More clearly, 3D visualization of the coordinate systems can be viewed using rviz.