Kauai Labs navX-MXP User Manual page 22

Installation
OmniMount
Transforming navX-MXP Board Frame to Body Frame with
OmniMount
The navX-MXP's "OmniMount" feature can transform the navX-MXP X, Y and Z axis sensor
data (Board Frame) into Robot Orientation (Body Frame) by detecting which of its three axes is
perpendicular to the earth's surface. [NOTE: this requires navX-MXP firmware revision
1.1.37 or later].
This is similar to how a modern smart phone will rotate the display based upon the phone's
orientation. However unlike a smart phone, the OmniMount detection of orientation does not
happen all the time – since the orientation should not change while the robot is moving. Rather,
each time OmniMount configuration occurs, navX-MXP records this transformation in persistent
flash memory, and will continue to perform this transformation until the transform is
reconfigured.
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