diff --git a/Documentation/pycardium/bhi160.rst b/Documentation/pycardium/bhi160.rst index f50f736bd4c68605c5fc53cdab29a3b12042d5a0..342e8bfcdb29e5ffcd13f54a23a508700b167f61 100644 --- a/Documentation/pycardium/bhi160.rst +++ b/Documentation/pycardium/bhi160.rst @@ -5,7 +5,15 @@ .. versionadded:: 1.4 -Supports the BHI160 sensor on the card10 for accelerometer, gyroscope, magnetometer and orientation. +Supports the BHI160 sensor on the card10 for accelerometer, gyroscope, +magnetometer and orientation. + +The coordinate system of the BHI160 sensor data looks like this: + +.. image:: ../static/bhi160-coordinates.png + +All angles and angular velocities (like gyroscope, orientation) rotate counter +clockwise around their respective axis. **Example**: diff --git a/Documentation/static/bhi160-coordinates.png b/Documentation/static/bhi160-coordinates.png new file mode 100644 index 0000000000000000000000000000000000000000..9e61a8f6bbb4c5f4e7b66c1cbd5a801e98e4dd62 Binary files /dev/null and b/Documentation/static/bhi160-coordinates.png differ