Added an image showing the BHI160 coordinate system.

2db47366 · Maximilian Wagenbach · 2aa69f54 · 2db47366 · 2db47366
Commit 2db47366 authored Oct 05, 2019 by Maximilian Wagenbach
--- a/Documentation/pycardium/bhi160.rst
+++ b/Documentation/pycardium/bhi160.rst
@@ -5,7 +5,15 @@

 .. versionadded:: 1.4

-Supports the BHI160 sensor on the card10 for accelerometer, gyroscope, magnetometer and orientation.
+Supports the BHI160 sensor on the card10 for accelerometer, gyroscope,
+magnetometer and orientation.
+
+The coordinate system of the BHI160 sensor data looks like this:
+
+.. image:: ../static/bhi160-coordinates.png
+
+All angles and angular velocities (like gyroscope, orientation) rotate counter
+clockwise around their respective axis.

 **Example**:


--- a/Documentation/static/bhi160-coordinates.png
+++ b/Documentation/static/bhi160-coordinates.png