# VOXL coordinate frame NED/FRD -> ENU/FLU

Source: https://forum.modalai.com/topic/1584/voxl-coordinate-frame-ned-frd-enu-flu
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2022-11-30 00:43:00 UTC by jaredjohansen
Replies: 0 · Views: 752

## jaredjohansen · 2022-11-30 00:43:00 UTC

The VOXL's coordinate frame is NED/FRD (as described in [this video](https://docs.modalai.com/configure-extrinsics/)).  This is inline with typical aerospace applications.

[ROS](https://www.ros.org/reps/rep-0103.html#axis-orientation) and most of the [robotics world](https://w3.cs.jmu.edu/molloykp/teaching/cs354/cs354_2020Fall/resources/frames.pdf) (see bottom of page 4) use the ENU/FLU coordinate frame.

I would like to use the voxl-qvio output as `odom` data.  The output of this service is in the NED/FRD coordinate frame.  Is there some way to have QVIO output the drone's coordinates in the ENU/FLU coordinate frame instead?