http://robosub-vm.eecs.wsu.edu/wiki/ 2026-04-03T20:25:29-0700 http://robosub-vm.eecs.wsu.edu/wiki/ http://robosub-vm.eecs.wsu.edu/wiki/lib/tpl/codowik/images/favicon.ico text/html 2017-10-05T15:29:58-0700 Anonymous (anonymous@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/coord_system/start?rev=1507242598&do=diff Coordinate System Global Frame The global frame is such that the x,y origin is at the pinger, and z=0 is at the surface. Positive z is up. Yaw is relative to magnetic north. Pitch and Roll are relative to the gravity vector. Axes * X+ - front of the sub