The coordinate system is currently RIGHT handed axes and RIGHT handed rotations. The axes are as follows:

Axes:

• X+ - front of the sub
• Y+ - left of the sub
• Z+ - above the sub

Rotations:

• Yaw+ - Counterclockwise around Z+ axis (this is opposite of magnetic)
• Roll+ - Counterclockwise around X+ axis
• Pitch+ - Counterclockwise around Y+ axis