Reference frames#

Different reference frames are used by ROS and BetaFlight (i.e. by the software running on the Raspberry Pi and the one on the flight controller respectively).

Betaflight#

The reference frame used by the BetaFlight firmware is as following1:

Betaflight Reference Frame

ROS#

ROS uses the reference frames conventions defined in REP 105. Specifically for mobile robots (and thus the Duckiedrone) the preferred axis orientation is defined in REP 103 as having the body axis as:

  • x forward

  • y left

  • z up.

In the image below 1 you can see a comparison between the two reference frame conventions.

Comparison between the reference frames used in ROS and px4/betaflight

1(1,2)

Source px4-docs