# SET-SENSOR-ORIENTATION

Sets the sensor mounting orientation with respect to the ROV coordinate frame. \<ROLL>, \<PITCH>, \<HEADING> are given in degrees, and should all be ±180°. The rotations are all in [N-E-D coordinates](https://docs.ceruleansonar.com/c/tracker-650/coordinate-systems).

Example:

SET-SENSOR-ORIENTATION \<ROLL>,\<PITCH>,\<HEADING>

{% hint style="info" %}
See [coordinate system definitions](https://docs.ceruleansonar.com/c/tracker-650/coordinate-systems). The rotations are applied conventionally: Starting with the sensor frame aligned with the ROV frame, the yaw is applied to the sensor, then the pitch, then the roll. Not paying attention to this is a common source of error. If you apply the rotations in a different order the virtual sensor orientation can end up in a different place. See also [this example ](https://docs.ceruleansonar.com/c/tracker-650/mounting-the-tracker-650/thruster-deck-mount-example)of an offset and the associated orientation command.
{% endhint %}

Sets the sensor mounting orientation with respect to the ROV coordinate frame. \<ROLL>, \<PITCH>, \<HEADING> are given in degrees, and should all be ±180°.

SET-SENSOR-ORIENTATION \<ROLL>,\<PITCH>,\<HEADING>

Example:

SET-SENSOR-ORIENTATION 0, 0, 90