Coordinate Frames

DroneOS uses the NED (North-East-Down) coordinate frame, which is the PX4 standard.

NED Frame

• x = meters north of home (positive = north)
• y = meters east of home (positive = east)
• z = meters down from home (negative = up)
• Home = (0, 0, 0) — the takeoff position

Key Implications

• To fly 50 meters up: set_position(0, 0, -50)
• To fly north and east at altitude: set_position(80, 40, -50)
• local_z = -50 means the drone is 50m above home

Common Gotcha

The z-axis is inverted from what you might expect. Negative z = higher altitude. This trips up everyone the first time. Double-check your signs.

In get_state Output

{
  "local_x": 80.2,      // 80m north of home
  "local_y": -40.1,     // 40m west of home
  "local_z": -50.3      // 50m altitude
}