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Add some minor clarification under the IMU orientation picture

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Oleg Kalachev
2024-11-30 04:59:04 +03:00
parent 2c5eac92ea
commit 7fa3baa76a
1 changed files with 4 additions and 2 deletions
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README.md
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@@ -133,12 +133,14 @@ Complete diagram is Work-in-Progress.
### IMU placement ### IMU placement
Required IMU orientation on the drone is **FLU** (Forward, Left, Up): Required IMU orientation on the drone is **FLU** (Forward, Left, Up)⁵:
<img src="docs/img/flu.svg" width=400 alt="IMU orientation"> <img src="docs/img/flu.svg" width=400 alt="GY-91 axis">
In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98). In case of using **FRD** orientation (Forward, Right, Down), use [the code for rotation](https://gist.github.com/okalachev/713db47e31bce643dbbc9539d166ce98).
*⁵ — This X/Y/Z IMU axis orientation is used in the Flix IMU library, internal accel/gyro/mag axes differ.*
## Version 0 ## Version 0
See the information on the obsolete version 0 in the [corresponding article](docs/version0.md). See the information on the obsolete version 0 in the [corresponding article](docs/version0.md).