diff --git a/README.md b/README.md
index 67cea01..933aa37 100644
--- a/README.md
+++ b/README.md
@@ -15,8 +15,13 @@ In addition the BNO08x IMU provides a built-in step counter, tap detector, activ
 
 This Arduino Library was built off the [original library](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library) written by Nathan Seidle ([SparkFun](http://www.sparkfun.com)).
 
-Thanks to all those who have helped improve the original library:
+Thanks to all those who have helped improve this library!
 
+This BNO086 Library - CEVA-DSP Sh2 Driver-based improvements:
+* LazaroFilm for adding setReorientation() [PR15](https://github.com/sparkfun/SparkFun_BNO08x_Arduino_Library/pull/15)
+* rah2501 for fixing an INT/RST pin bug [PR13](https://github.com/sparkfun/SparkFun_BNO08x_Arduino_Library/pull/13)
+
+Original BNO080 Library improvements:
 * blendmaster for adding [Linear Accel report](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/4)
 * per1234 for fixing our [keywords file](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/12)
 * fm4dd for typo - [PR 19](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/pull/19)
diff --git a/src/SparkFun_BNO08x_Arduino_Library.cpp b/src/SparkFun_BNO08x_Arduino_Library.cpp
index 6db1380..bddaeb3 100644
--- a/src/SparkFun_BNO08x_Arduino_Library.cpp
+++ b/src/SparkFun_BNO08x_Arduino_Library.cpp
@@ -995,6 +995,25 @@ bool BNO08x::clearTare()
   return true;
 }
 
+// setReorientation()
+// Contributed by githhub user LazaroFilm (Victor Lazaro) Nov 2023.
+// https://github.com/sparkfun/SparkFun_BNO08x_Arduino_Library/pull/15
+// This function takes a quaternion and applies it to the rotation vector output as an offset.
+// This can be used in conjunction to the tare functions to offset the output manually.
+// To reset, simply send a zeroed out quaternion to the function.
+
+bool BNO08x::setReorientation(sh2_Quaternion_t *orientation)
+{
+  int status = sh2_setReorientation(orientation);
+
+  if (status != SH2_OK)
+  {
+    return false;
+  }
+
+  return true;
+}
+
 // //This tells the BNO08x to begin calibrating
 // //See page 50 of reference manual and the 1000-4044 calibration doc
 // void BNO08x::sendCalibrateCommand(uint8_t thingToCalibrate)
diff --git a/src/SparkFun_BNO08x_Arduino_Library.h b/src/SparkFun_BNO08x_Arduino_Library.h
index bf9984f..bf29cce 100644
--- a/src/SparkFun_BNO08x_Arduino_Library.h
+++ b/src/SparkFun_BNO08x_Arduino_Library.h
@@ -257,6 +257,8 @@ class BNO08x
 	bool tareNow(bool zAxis=false, sh2_TareBasis_t basis=SH2_TARE_BASIS_ROTATION_VECTOR);
 	bool saveTare();
 	bool clearTare();
+
+	bool setReorientation(sh2_Quaternion_t *orientation);
 	
 	uint8_t getTapDetector();
 	uint64_t getTimeStamp();