# Advanced Controller Orientation

The orientation and horizon level may be fine-tuned manually with parameters to correct for sensor board small misalignment or minor calibration errors.

:::note These instructions are not recommended for regular users. For basic settings stick to the instructions linked below:

* [Flight Controller Orientation](/px4-user-guide/config/flight_controller_orientation.md)
* [Level Horizon Calibration](/px4-user-guide/config/level_horizon_calibration.md) :::

If there is a persistent drift bias (often seen in multirotors but not limited to them), it is a good strategy to trim it with the help of this fine-tuning offset angle parameters instead of using the trimmers of your RC Transmitter. This way when in fully autonomous flight the aircraft will maintain the trimming.

## Setting Orientation Parameters

To change the orientation parameters:

1. Open QGroundControl menu: **Settings > Parameters > Sensor Calibration**.
2. Change the parameters as shown below: ![FC Orientation QGC v2](/files/OB6gJCIhcxF0Vb76W4Fk)

## Parameter information

The **SENS\_BOARD\_ROT** parameter defines the rotation relative to the platform, while the X,Y and Z fine tuning offsets are fixed relative to the board itself. What happens is that the fine tuning offsets are added to the SENS\_BOARD\_ROT angle in order to get the total offset angles for the Yaw, Pitch and Roll orientation of the flight controller.

**SENS\_BOARD\_ROT**

This parameter defines the rotation of the FMU board relative to the platform. Possible values are:

* 0 = No rotation
* 1 = Yaw 45°
* 2 = Yaw 90°
* 3 = Yaw 135°
* 4 = Yaw 180°
* 5 = Yaw 225°
* 6 = Yaw 270°
* 7 = Yaw 315°
* 8 = Roll 180°
* 9 = Roll 180°, Yaw 45°
* 10 = Roll 180°, Yaw 90°
* 11 = Roll 180°, Yaw 135°
* 12 = Pitch 180°
* 13 = Roll 180°, Yaw 225°
* 14 = Roll 180°, Yaw 270°
* 15 = Roll 180°, Yaw 315°
* 16 = Roll 90°
* 17 = Roll 90°, Yaw 45°
* 18 = Roll 90°, Yaw 90°
* 19 = Roll 90°, Yaw 135°
* 20 = Roll 270°
* 21 = Roll 270°, Yaw 45°
* 22 = Roll 270°, Yaw 90°
* 23 = Roll 270°, Yaw 135°
* 24 = Pitch 90°
* 25 = Pitch 270°

**SENS\_BOARD\_X\_OFF**

Rotation, in degrees, around PX4FMU's X axis or Roll axis. Positive angles increase in CCW direction, negative angles increase in CW direction.

**SENS\_BOARD\_Y\_OFF**

Rotation, in degrees, around PX4FMU's Y axis or Pitch axis. Positive angles increase in CCW direction, negative angles increase in CW direction.

**SENS\_BOARD\_Z\_OFF**

Rotation, in degrees, around PX4FMU's Z axis Yaw axis. Positive angles increase in CCW direction, negative angles increase in CW direction.


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