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Installation
Orientation
In order for the navX2-MXP sensor readings to be easily usable by a robot control application, the
navX2-MXP Coordinate System (Board Frame) must be aligned with the Robot Coordinate system (Body
Frame).
Aligning the Yaw (Z) axis and Gravity
The navX2-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 navX2-MXP on a robot, the navX-MXP yaw (Z) axis and the gravity axis must be
aligned.
Default navX2-MXP Board Orientation
The default navX2-MXP circuit board orientation is with the navX2-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 navX2-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 navX2-MXP circuit board in a different orientation (vertically, horizontally,
or upside down), you can use the
OmniMount
feature to transform the orientation.
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