# Math to Compass Frame Conversions

{% hint style="info" %}
All angles are expressed in degrees.
{% endhint %}

To convert apparent bearing to the transmitter in Math coordinates to Compass coordinates, use:

                \[Compass] Bearing   =   90 – \[Math] Azimuth

To convert true bearing to the transmitter in Math coordinates to Compass coordinates, use:

                If transducer is pointed down: \[Compass] Bearing   =   90 – \[Math] Azimuth

                If transducer is pointed up: \[Compass] Bearing   =   90 + \[Math] Azimuth

To convert world-referenced \[Math] Yaw to \[Compass] Heading, use:

                If transducer is pointed down: \[Compass] Heading   =   90 – \[Math] Yaw

                If transducer is pointed up: \[Compass] Heading   =   90 + \[Math] Yaw

These conversions are done internally in the receiver and both results are included in the update message as a convenience.


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.ceruleansonar.com/c/rov-locator/rovl-coordinate-systems-and-angles/math-to-compass-frame-conversions.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.