diff --git a/sw/in_progress/python/attitude_viz.py b/sw/in_progress/python/attitude_viz.py
index 695f3ef661..ebc5074440 100755
--- a/sw/in_progress/python/attitude_viz.py
+++ b/sw/in_progress/python/attitude_viz.py
@@ -52,6 +52,8 @@ class Visualization:
     self.airspeed = 0.0
     self.display_list = None
     self.display_dirty = True
+    self.rotate_theta = parent.rotate_theta
+
     for message_name, index, name, bfp in VEHICLE_QUATS:
       self.quats.append(TelemetryQuat(message_name, index, name, bfp))
     for message_name, index, name, offset, scale, max in BAR_VALUES:
@@ -227,7 +229,8 @@ class Visualization:
       try:
         scaled_quat = [telemetry_quat.qi * telemetry_quat.scale, telemetry_quat.qx * telemetry_quat.scale, telemetry_quat.qy * telemetry_quat.scale, telemetry_quat.qz * telemetry_quat.scale]
         glRotate(360 * math.acos(scaled_quat[0] ) / math.pi, scaled_quat[2], -scaled_quat[3], -scaled_quat[1])
-        glRotate(-90, 1, 0, 0)
+        glRotate(self.rotate_theta, 1, 0, 0)
+
         self.DrawVehicle(telemetry_quat.name)
       except Exception:
         raise Exception
@@ -237,7 +240,8 @@ class Visualization:
     glPopMatrix()
 
 class Visualizer:
-  def __init__(self):
+  def __init__(self, rotate_theta):
+    self.rotate_theta = rotate_theta
     self.visualization = Visualization(self)
 
     # listen to Ivy
@@ -326,21 +330,25 @@ def run():
   VEHICLE_QUATS = [ ["AHRS_REF_QUAT", 6, "Estimate", True], ["AHRS_REF_QUAT", 2, "Reference", True]]
   BAR_VALUES = [ ["ROTORCRAFT_RADIO_CONTROL", 5, "Throttle (%%) %i", 0, 100, 100] ]
   window_title = "Attitude_Viz"
+  rotate_theta = -90
   try:
-    opts, args = getopt.getopt(sys.argv[1:], "t:", ["title"])
+    opts, args = getopt.getopt(sys.argv[1:], "t:r:", ["title", "rotate_theta"])
     for o, a in opts:
       if o in ("-t", "--title"):
         window_title = a
+      if o in ("-r", "--rotate_theta"):
+        rotate_theta = int(a)
   except getopt.error as msg:
     print(msg)
     print("""usage:
 -t, --title                   set window title
+-r, --rotate_theta           rotate the quaternion by n degrees over the pitch axis (default: -90)
 """)
   pygame.init()
   screen = pygame.display.set_mode(SCREEN_SIZE, pygame.OPENGL|pygame.DOUBLEBUF)
   #resize(*SCREEN_SIZE)
   init()
-  visualizer = Visualizer()
+  visualizer = Visualizer(rotate_theta)
 
   try:
     while True: