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