MAVROS: Local Map Frame Axes Mismatch

[hamdaan19]

Issue details

Hi guys. I have been trying to use mavros with pixhawk cube orange. However, I'm facing issues with frame conversions. I know that pixhawk autopilot uses NED frame. Mavros by convention uses ENU but according to REP 103, ROS uses NWU as default frame. For NWU frame moving forward is positive +X and moving left is positive +Y. However, when I move pixhawk cube orange forward, the position values in mavros (from topic /mavros/local_position/pose) decreases in the Y direction. When I move to the left, the position values increases in X. When I replace my cube orange with a pixhawk 4, my axes are oriented correctly w.r.t. NWU in mavros. The problem seems to be specific to my pixhawk cube orange.

Update: While calibrating the compass in QGC with pixhawk firmware, it shows external compass rotation: ROTATION_ROLL_180_YAW_90. Do you think the axes mismatch is because of this?

MAVROS version and platform

Mavros: 2.1.0 ROS: Noetic Ubuntu: 20.04