IWR6843AOP: Can I reconfigure an sensor orientation using only the .cfg file, around Y axis?

Tool/software:

Hi everyone,

I'm working with the 3D People Tracking demo, and I need to rotate the mmWave sensor due to hardware constraints — the enclosure has a fixed orientation, and the sensor was already mounted accordingly.

In the original example, the sensor is placed at a height of 2 meters, with an ElevationTilt of 15 degrees. The coordinate system used assumes:

• Z-axis = vertical (height)

• X-axis = left/right

• Y-axis = forward/backward

In my case, I've physically rotated the sensor around its Y-axis, which means:

• The Y-axis remains unchanged

• The X and Z axes are effectively swapped

  • Now, X = height

  • Z = left/right

Original Config For 3D Tracking People Demo

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
lowPower 0 0
profileCfg 0 60.75 30.00 25.00 59.10 394758 0 54.71 1 96 2950.00 2 1 36 
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 96 0 55.00 1 0
dynamicRACfarCfg -1 4 4 2 2 8 12 4 12 5.00 8.00 0.40 1 1
staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0
dynamicRangeAngleCfg -1 0.75 0.0010 1 0
dynamic2DAngleCfg -1 3.0 0.0300 1 0 1 0.30 0.85 8.00
staticRangeAngleCfg -1 0 8 8
antGeometry0 -1 -1 0 0 -3 -3 -2 -2 -1 -1 0 0
antGeometry1 -1 0 -1 0 -3 -2 -3 -2 -3 -2 -3 -2
antPhaseRot 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1
fovCfg -1 70.0 70.0
compRangeBiasAndRxChanPhase 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
staticBoundaryBox -3 3 0.5 7.5 0 3
boundaryBox -4 4 0 8 0 3
sensorPosition 2 0 15
gatingParam 3 2 2 3 4
stateParam 3 3 12 500 5 6000
allocationParam 20 100 0.1 20 0.5 20
maxAcceleration 0.1 0.1 0.1
trackingCfg 1 2 800 30 46 96 55
presenceBoundaryBox -3 3 0.5 7.5 0 3
sensorStart

My questions:

1. How should I modify the .cfg file to compensate for this sensor rotation?

2. Are the following changes correct or sufficient?

Example adjustments I'm considering:

# Original
sensorPosition 2 0 15

# Proposed (after rotation around Y)
sensorPosition 0 15 0

Since sensorPosition uses the sensor’s internal coordinate frame, I assume H (height) is originally the Z position — but after rotation, Z is no longer height. So:

• Should I remove or set H = 0 in sensorPosition, since height is no longer defined on Z?

• Are my assumptions correct?

Also, I believe I need to swap X and Z for all boundary box settings:

# Original
staticBoundaryBox -3 3 0.5 7.5 0 3
boundaryBox -4 4 0 8 0 3
presenceBoundaryBox -3 3 0.5 7.5 0 3

Finally, would this rotation affect any other parameters?