# IMU Orientation in ReXgen Air devices

Align the IMU of the device to obtain the correct measurements, as shown below:

<figure><img src="/files/pHLxZkKM5sIo7K02C8ox" alt=""><figcaption></figcaption></figure>

Place the device into the vehicle so that the IMU chip inside is aligned with the axis,

<figure><img src="/files/lG1Qb0g5MdTqSbjHutiX" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}

#### Notes:

* Ensure that the device is placed in a manner that does not disturb the orientation of the IMU axis.
* Or ensure the device's orientation is not disturbed for more than one axis when installing or operating.
  {% endhint %}

In case of misalignment, align the 'Z' axis first, followed by 'Y' and then 'X'. The chart below explains the attributes of all three axes in detail:

<table data-header-hidden><thead><tr><th width="102"></th><th width="129"></th><th width="206"></th><th width="220"></th><th></th></tr></thead><tbody><tr><td><strong>Axis</strong></td><td><strong>Angle</strong></td><td><strong>Movement Orientation</strong></td><td><strong>Pointing Direction</strong></td><td><strong>Default</strong></td></tr><tr><td>Z</td><td>0°, 360°</td><td>Distance (or depth) from the observer</td><td>Vertical</td><td>0</td></tr><tr><td>Y</td><td>-90°, 90°</td><td>Vertical movement</td><td>Lateral</td><td>0</td></tr><tr><td>X</td><td>-180°, 180°</td><td>Horizontal movement</td><td>Longitudinal</td><td>0</td></tr></tbody></table>

To Calculate the exact angle in case of misalignment:

* Keeping the actual position of the axis in mind- measure the angle of misalignment.
* Subtract the current measured angle from the actual angle value.

For example, if the vehicle's attitude is misaligned at its roll, the axes Z and Y are misaligned.

<figure><img src="/files/h4ryePk8KyJ5WjEHvLA1" alt=""><figcaption></figcaption></figure>

Configure/edit in Xml

```csharp
<MountYaw>0</MountYaw>
<MountPitch>0</MountPitch>
<MountRoll>45</MountRoll>
ome code
```

Similarly, if the vehicle's attitude is misaligned at its yaw, the axes X and Y are misaligned.

<figure><img src="/files/TMA8wN6gctRZDiTIkYn5" alt=""><figcaption><p>360° - 45° = 315°.</p></figcaption></figure>

#### Configure/edit in Xml

```csharp
<MountYaw>315</MountYaw>
<MountPitch>0</MountPitch>
<MountRoll>0</MountRoll>
```

Similarly, if the vehicle's attitude is misaligned at its pitch, the axes Z and X are misaligned.

<figure><img src="/files/gE3yEILaLYeyvSCcg6Cy" alt=""><figcaption><p>90° - 45° = 45°.</p></figcaption></figure>

#### Configure/edit in Xml

```csharp
<MountYaw>0</MountYaw>
<MountPitch>-45</MountPitch>
<MountRoll>0</MountRoll>
```


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