# body frame vs local frame

Source: https://forum.modalai.com/topic/143/body-frame-vs-local-frame
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2021-02-25 22:28:42 UTC by Aldo Castro Freire
Replies: 1 · Views: 666

## Aldo Castro Freire · 2021-02-25 22:28:42 UTC

Arent they same ? if not what is the difference ?

## Reply by modaltb (ModalAI staff) · 2021-02-26 18:37:40 UTC

Hi @Aldo-Castro-Freire ,

Local frame is centered wherever the drone was when it boots up aligned with wherever the drone was facing when it booted up. 

Body frame is centered at the drone's center of mass and points XYZ->forward right down.