Coordinate System Conventions

ROS Standard Message Types (i.e Twist, Odometery) - REP 103

+x forward
+y left
+z up
+yaw CCW

Bebop Velocities

+x East
+y South
+z Down

Bebop Attitude

+x forward
+y right
+z down
+yaw CW

SDK’s setPilotingPCMD

+roll right
+pitch forward
+gaz up
+yaw CW