• [PX4 Developer Guide] (https://dev.px4.io/en/\

• [MAVLink user manual] (http://mavlink.org/messages/common#MAV_FRAME_LOCAL_NED)

• [MAVLink common messages] (http://mavlink.org/messages/common#MAV_FRAME_LOCAL_NED)

• [QGroundControl Guide] (https://docs.qgroundcontrol.com/en/\

• [mavros] (https://github.com/mavlink/mavros)

coordinate frames in MAVROS:

• [issue] (https://github.com/mavlink/mavros/pull/473\
• [mavros frame conventions] (https://docs.google.com/document/d/1bDhaozrUu9F915T58WGzZeOM-McyU20dwxX-NRum1KA/edit\

ROS:

ENU frame

quaternion (0, 0, 0, 1) is aligned with horiontal east direction

MAVROS:

orientation

ROS with Gazebo Simulation

[link] (https://dev.px4.io/en/simulation/ros_interface.html\