Kauai Labs navX-MXP User Manual page 19

Installation
Orientation
The navX-MXP motion processor takes advantage of the fact that gravity can be measured with
its onboard accelerometers, fusing this information with the onboard gyroscopes to yield a very
accurate yaw reading with a low rate of drift. In order to accomplish this, the yaw (Z) axis must
be aligned with the "gravity axis" (the axis that points directly up and down with respect
to the earth).
When installing navX-MXP on a robot, the navX-MXP yaw (Z) axis and the gravity axis must be
aligned.
Default navX-MXP Board Orientation
The default navX-MXP circuit board orientation is with the navX-MXP logo on the Rear
Left, with the top of the circuit board pointing up (with respect to the earth).
Since Body Frame and Board Frame coordinates should be aligned, and because the Yaw axis
must be aligned with gravity, by default you must orient the navX-MXP with the top of the board
facing up, and with the Y axis (on the circuit board) pointing to the front of the robot.
If you need to mount the navX-MXP circuit board in a different orientation (vertically,
horizontally, or upside down), you can use the new
orientation.
OmniMount feature to transform the
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