Sensor Boards

An overview of available sensor boards.

  • The "Breakout Board?" column lists price if board is cheap & easy to procure.
  • Prices in USD from online platforms incl shipping.
  • Table created Dec 2023

6-axis IMU

Part Breakout Board? Interface Notes
MPU-6000 yes SPI, I2C 8k gyro, 1k acc, Released 2011, EOL
MPU-6050 yes I2C 8k gyro, 1k acc, Released 2011, EOL
MPU-6500 $2 SPI, I2C 8k gyro, 4k acc, noise: 10 mdps/√Hz 300 µg/√Hz, upgraded MPU-6000, Released 2014, NRND
BMI160 $2 SPI, I2C 3.2k gyro, 1.6k acc, noise: 8 mdps/√Hz 180 µg/√Hz
BMI270 no SPI 6k gyro, noise: 7 mdps/√Hz 160 µg/√Hz, Used in current commercial FC as replacement for MPU-6000/6500
LSM6DS3 $2 noise: 7 mdps/√Hz 180 µg/√Hz
LSM6DSO $10 noise: 3.8 mdps/√Hz 110 µg/√Hz
LSM6DSL 6.7k gyro, 6.7k acc, noise: 4 mdps/√Hz 80 µg/√Hz
MPU-3000 no Released 2011 (EOL)
MPU-3050 no Released 2011 (EOL)
MPU-6886 no
ICM-20602 no
ICM-20608 no
ICM-20649 no SPI, I2C noise: 17.5 mdps/√Hz 285 µg/√Hz, NRND
ICM-20689 no
ICM-42688-P no SPI 32k gyro, noise: 2.8 mdps/√Hz 70 µg/√Hz, Used in current high performance FC

9-axis IMU

Part Breakout Board? Interface Notes
MPU-9150 $7 I2C 8k gyro, MPU6050 + AK8975, EOL
MPU-9250 $7 SPI 20MHz, I2C 8k gyro, 4k acc, 100Hz mag, MPU6500 + AK8963, Released 2014 (EOL) Note: many fake or relabelled MPU-6500 chips sold as MPU-9250 on the market...
MPU-9255 $9 SPI 20MHz, I2C 8k gyro, MPU-6000 + AK8963, EOL
ICM-20948 $9 SPI 7MHz, I2C noise: 15 mdps/√Hz 230 µg/√Hz, replacement of MPU-9250/9255, ICM-20649 + AK09916, Released 2018
LSM9DSO no

Magnetometer

Part Breakout Board? Interface Notes
HMC5883L $2 I2C 160 Hz, 0.2µT/LSB, 12-bit ADC, chip marking "L883"
QMC5883L $2 I2C 200 Hz, 0.008µT/LSB, 16-bit ADC, chip marking "5883"
AK8963 I2C 100 Hz, 0.15µT/LSB, 16-bit, integraded in MPU9250
AK8975 I2C 100 Hz, 0.3µT/LSB, 13-bit, integraded in MPU9150
AK09916 I2C 100 Hz, 0.15µT/LSB, 16-bit, integraded in ICM-20948
IST8310 I2C 200 Hz, 0.3µT/LSB, 14-bit
LIS2MDL I2C 100 Hz, 0.015µT/LSB, 16-bit

Barometer

Part Breakout Board? Interface Relative Precision Resolution Measurement Rate RMS Noise Notes
DPS310 $3 SPI, I2C 6Pa 50cm 0.06Pa Used in current commercial FC
BMP180 $2
BMP280 $2 12Pa 100cm 0.18Pa 157Hz 1.3Pa Used in current commercial FC
BMP388 $8 SPI, I2C
MS5611 $4 SPI 20MHz, I2C 1.2Pa 10cm 120Hz
SPL06-001 no
LPS22HB $6 SPI, I2C 10Pa 80cm 0.025Pa 75Hz 0.75Pa
LPS22DF $14 SPI, I2C 1Pa 8cm 0.025Pa 200Hz 0.34Pa
ILPS22QS $14 SPI, I2C 1.5Pa 12cm 0.025Pa 200Hz 0.34Pa

Multi Sensor Modules

Module Price DOF Sensors
GY-85 9DOF ITG3205 + ADXL345 + HMC5883L
GY-86 10DOF MPU6050 HMC5883L MS5611
GY-87 $4 10DOF MPU6050 HMC5883L BMP180
GY-91 $8 10DOF MPU9250 BMP280
GY-521 $2 6DOF MPU6050
GY-912 $11 10DOF ICM20948 BMP388