Difference between the different frame_id

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Hi all. I'm using hector_slam and hector_navigation package for quadcopter and I encountered different frame_id in the packages.

That is:

-"map_frame_id"

-"local_map_frame_id"

-"local_transform_frame_id"

What are the difference between them? I know that "map_frame_id" will be set as "/map", but what about "local_map_frame_id" and "local_transform_frame_id"?

Will greatly appreciate any answers that will enlighten me regarding this.

Thanks!