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.

Example:

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

See coordinate system definitions. 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 of an offset and the associated orientation command.

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