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Where can I find the layout direction of the PIXHAWK V5 sensor XYZ axis?

I don’t know how the XY axis of ICM-20689 and BMI055 IST8310z are determined on IMU hardware.I looked for FMUV5_pinout but I couldn’t find anything.
https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=907366108

Servers by jDrones