Frame Conventions

AirStack uses the East-North-Up (ENU) coordinate convention for everything ROS-side: the robot's map frame is ENU with units in meters, angles in radians, right-handed, yaw about +Z.

The launch preamble (autonomy_bringup/launch/robot.launch.xml) publishes a static identity transform world → map, so world is a fixed origin and map is the planning/state frame in which odometry.pose, global_plan, and the map live. The full frame table (including base_link and units) is specified in the Interface Conventions Specification — that spec is canonical.

Two boundaries to watch:

• PX4 / MAVROS: PX4 works in NED; MAVROS performs the NED↔ENU conversion. Everything above MAVROS is ENU. Mixing these up is the classic silent failure — see the warning in the spec.
• Isaac Sim: Isaac Sim follows the Forward-Left-Up (FLU) convention (Isaac Sim reference). The Pegasus-based launch scripts handle the sim-side conversion when spawning drones — see Spawning Drones.