diff --git a/README.md b/README.md index 79ad9d0..b02896a 100644 --- a/README.md +++ b/README.md @@ -131,6 +131,14 @@ Complete diagram is Work-in-Progress. *⁴ — UART2 RX pin was [changed](https://docs.espressif.com/projects/arduino-esp32/en/latest/migration_guides/2.x_to_3.0.html#id14) to GPIO4 in Arduino ESP32 core 3.0.* +### IMU placement + +Required IMU orientation on the drone is **FLU** (Forward, Left, Up): + +IMU orientation + +In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98). + ## Version 0 See the information on the obsolete version 0 in the [corresponding article](docs/version0.md). diff --git a/docs/img/flu.svg b/docs/img/flu.svg new file mode 100644 index 0000000..2ff7d41 --- /dev/null +++ b/docs/img/flu.svg @@ -0,0 +1,81 @@ + + + + + + + + + + + + + + + + + + + + + + + + + X/Forward + Y/Left + Z/Up + +