> For the complete documentation index, see [llms.txt](https://docs.ceruleansonar.com/c/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.ceruleansonar.com/c/tracker-650/technical-details/api/commands-accepted-by-the-tracker-650/set-sensor-orientation.md).

# 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](/c/tracker-650/technical-details/coordinate-systems.md).

Example:

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

{% hint style="info" %}
See [coordinate system definitions](/c/tracker-650/technical-details/coordinate-systems.md). 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 ](/c/tracker-650/mounting-the-tracker-650/thruster-deck-mount-example.md)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