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--- a/IoT/AttitudeHeadingReferenceSystem-IMU.adoc
+++ b/IoT/SensorNode.adoc
@@ -1,4 +1,4 @@
-= How to turn Adafruit's 9-DOF, 10-DOF, or LSM9DS0 breakouts into  AHRS (attitude and heading reference system) !
+= Sensor node/mote
 Apostolos rootApostolos@swarmlab.io
 // Metadata:
 :description: IoT  Διαδίκτυο των Αντικειμένων
@@ -16,15 +16,31 @@ include::header.adoc[]
 
 {empty} +
 
-An attitude and heading reference system (AHRS) consists of sensors on three axes that provide attitude information for aircraft, including roll, pitch and yaw. These are sometimes referred to as MARG (Magnetic, Angular Rate, and Gravity)[1] sensors and consist of either solid-state or microelectromechanical systems (MEMS) gyroscopes, accelerometers and magnetometers. They are designed to replace traditional mechanical gyroscopic flight instruments. 
+A **sensor node**, also known as a **mote**, is a node in a sensor network that is capable of performing some processing, gathering sensory information and communicating with other connected nodes in the network. 
 
-[More Info]https://en.wikipedia.org/wiki/Attitude_and_heading_reference_system[^]
+:TIP A mote is a node but a node is not always a mote
+
+.The typical architecture of the sensor node
+image:./sensors_1604_LRG.jpg[alt="The typical architecture of the sensor node"]
+
+The main components of a sensor node are a **microcontroller**, **transceiver**, **memory**, **power source** and one or more **sensors.** 
+
+== Sensor node using IMU sensors
 
 A basic IMU (Intertial Measurement Unit) generally provides raw sensor data, whereas an AHRS takes this data one step further, converting it into heading or direction in degrees, converting the raw altitude data into standard units like feet or meters, etc. 
 
+.AHRS (Attitude and Heading Reference System)
+[NOTE]
+====
+An attitude and heading reference system (AHRS) consists of sensors on three axes that provide attitude information for aircraft, including roll, pitch and yaw. These are sometimes referred to as MARG (Magnetic, Angular Rate, and Gravity) sensors and consist of either solid-state or microelectromechanical systems (MEMS) gyroscopes, accelerometers and magnetometers. They are designed to replace traditional mechanical gyroscopic flight instruments. 
+====
+
+[More Info]https://en.wikipedia.org/wiki/Attitude_and_heading_reference_system[^]
+
+
 
 [[cheat-Articles]]
-== IMU
+=== IMU
 
 image:./sensors_1604_LRG.jpg[alt="Adafruit 10-DOF IMU Breakout"]
 
@@ -35,7 +51,7 @@ Adafruit's 10DOF https://en.wikipedia.org/wiki/Degrees_of_freedom[(10 Degrees of
 - L3GD20 - a 3-axis gyroscope (up to +/-2000 dps)
 - BMP180 - A barometric pressure sensor (300..1100 hPa) that can be used to calculate altitude, with an additional on-board temperature sensor
 
-=== Connecting It Up
+==== Connecting It Up
 
 Basic Setup
 
@@ -60,7 +76,7 @@ Advanced Setup
 These pins are all outputs from the 10-DOF breakout and are all 3.3V logic
 
 
-=== Downloading Libraries
+==== Downloading Libraries
 
 Place the files in the Arduino Sketch Folder '/libraries' sub-folder. You should end up with a structure like this:
 
@@ -77,9 +93,9 @@ Arduino libraries are a convenient way to share code such as device drivers or c
 https://learn.adafruit.com/adafruit-all-about-arduino-libraries-install-use[How to install Arduino libraries]
 ====
 
-=== Example Sketch
+==== Example Sketch
 
-==== pitch & roll
+===== pitch & roll
 
 
 .sketch pitchrollheading