# S500 airframe's xy coordinate

**URL:** <https://discuss.px4.io/t/s500-airframes-xy-coordinate/31824>\
**Category:** PX4 Autopilot\
**Created:** [April 19, 2023, 3:50am UTC](https://discuss.px4.io/t/s500-airframes-xy-coordinate/31824 "2023-04-19T03:50:49Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Chienthan123](https://discuss.px4.io/user_avatar/discuss.px4.io/chienthan123/32/12131_2.png) [@Chienthan123](https://discuss.px4.io/u/Chienthan123)\
**Post date:** [April 19, 2023, 3:50am UTC](https://discuss.px4.io/t/s500-airframes-xy-coordinate/31824/1 "2023-04-19T03:50:49Z")

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Hey guys, i want to ask about the value of s500 airframe’s xy coordinate, is the origin in the center or is it at the center of gravity of the plane, thanks!!

 ![image](https://discuss.px4.io/uploads/default/original/2X/d/d74d6f21d10972c6a60b608dd76a3992ef4e716a.png)

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**Author:** ![lstelmah29](https://discuss.px4.io/user_avatar/discuss.px4.io/lstelmah29/32/12648_2.png) [@lstelmah29](https://discuss.px4.io/u/lstelmah29)\
**Post date:** [April 21, 2023, 10:03am UTC](https://discuss.px4.io/t/s500-airframes-xy-coordinate/31824/2 "2023-04-21T10:03:07Z")

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I used center of quad, but for my setup I have center of gravity and center of quad at same place

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**Author:** ![NicolasBierman](https://discuss.px4.io/user_avatar/discuss.px4.io/nicolasbierman/32/13020_2.png) [@NicolasBierman](https://discuss.px4.io/u/NicolasBierman)\
**Post date:** [April 21, 2023, 6:56pm UTC](https://discuss.px4.io/t/s500-airframes-xy-coordinate/31824/3 "2023-04-21T18:56:14Z")

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To change the XY coordinates of your airframe in PX4, you can modify the Firmware/ROMFS/px4fmu\_common/init.d-posix/rcS file. In this file, you can set the SENS\_BOARD\_X\_OFF and SENS\_BOARD\_Y\_OFF parameters to adjust the XY coordinates.  
For example, if you want to shift the XY coordinates by 5cm in the positive X direction and 10cm in the negative Y direction, you can set these parameters as follows:  
param set SENS\_BOARD\_X\_OFF 0.05  
param set SENS\_BOARD\_Y\_OFF -0.10  
After setting these parameters, you should recalibrate your sensors and perform a new flight test to verify that the airframe behaves correctly.