Kauai Labs navX-MXP User Manual page 18

Installation
Orientation
To address this, the concept of a
three-axis "reference frames" that should be understood:
Coordinate Technical Term
System
Field World Frame
Robot Body Frame
navX MXP Board Frame
Joysticks and Reference Frames
Since a three-axis joystick is typically used to control a robot, the robot designer must
select upon which Reference Frame the driver joystick is based. This selection of
Reference Frame typically depends upon the drive mode used:
Drive mode Reference Frame
Body Frame
Standard
Drive
World Frame
Field-
oriented
Drive
navX-MXP Board Orientation (Board Frame)
Aligning Board Frame and Body Frame
In order for the navX-MXP sensor readings to be easily usable by a robot control application,
the navX-MXP Coordinate System (Board Frame) must be aligned with the Robot Coordinate
system (Body Frame).
Aligning the Yaw (Z) axis and Gravity
reference frame was developed. There are three separate
X Axis
Side of Field
Side of Robot
See diagram Below
Coordinate Orientation
Forward always points to
the front (head) of the robot
Forward always points to
the front (head) of the field
Y Axis
Front (Head) of Field
Front (Head) of Robot
See diagram below
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