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? | Rate (Hz) | Gyro Noise (mdps/√Hz) | Acc Noise (µg/√Hz) | Notes |
|---|---|---|---|---|---|
| MPU-6000 | yes | 8k gyro, 1k acc | Released 2011, EOL | ||
| MPU-6050 | yes | 8k gyro, 1k acc | I2C only, Released 2011, EOL | ||
| MPU-6500 | $2 | 8k gyro, 4k acc | 10 | 300 | upgraded MPU-6000, Released 2014, NRND |
| BMI160 | $2 | 3.2k gyro, 1.6k acc | 8 | 180 | |
| BMI270 | no | 6k gyro | 7 | 160 | Used in current commercial FC as replacement for MPU-6000/6500 |
| LSM6DS3 | $2 | 7 | 180 | ||
| LSM6DSO | $10 | 6.7k | 3.8 | 110 | |
| LSM6DSL | no | 6.7k | 4 | 80 | |
| LSM6DSM | no | 6.7k | 3.8 | 130 | |
| LSM6DSV | no | 7.68k | 2.8 | 60 | |
| ICM-20602 | $5 | 4 | 100 | NRND | |
| ICM-20649 | no | 17.5 | 285 | NRND | |
| ICM-40609-D | no | 32k gyro+acc | 4.5 | 100 | Marketed for drones, replacement of ICM-20602 and MPU-6500 |
| ICM-42688-P | no | 32k gyro | 2.8 | 70 | 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
Earth's magnetic field strength at its surface ranges from 25 to 65 μT (0.25 to 0.65 G).
| Part | Breakout Board? | Sampling Rate | Resolution | ADC | Full Scale | Notes |
|---|---|---|---|---|---|---|
| QMC5883L | $2 | 200 Hz | 0.008µT/LSB @ ±200µT | 16-bit | ±200 or ±800µT | chip marking "5883" |
| HMC5883L | $2 | 160 Hz | 0.07µT/LSB @ ±100µT | 12-bit | ±100 to ±800µT | chip marking "L883" |
| HMC5983 | $2 | 220 Hz | 0.07µT/LSB @ ±100µT | 12-bit | ±100 to ±800µT | |
| MMC5983MA | 1000 Hz | 0.006µT/LSB @ ±800µT | 18-bit | ±800µT | ||
| AK8963 | 100 Hz | 0.15µT/LSB | 16-bit | integraded in MPU9250 | ||
| AK8975 | 100 Hz | 0.3µT/LSB | 13-bit | integraded in MPU9150 | ||
| AK09916 | 100 Hz | 0.15µT/LSB | 16-bit | integraded in ICM-20948 | ||
| IST8310 | 200 Hz | 0.3µT/LSB | 14-bit | |||
| LIS2MDL | 100 Hz | 0.015µT/LSB | 16-bit |
Barometer
| Part | Breakout Board? | Relative Precision | Resolution | Max Measurement Rate | RMS Noise | Notes |
|---|---|---|---|---|---|---|
| DPS310 | $3 | 6Pa 50cm | 0.06Pa | 128Hz | 0.5Pa @128Hz | Used in current commercial FC |
| BMP180 | $2 | |||||
| BMP280 | $2 | 12Pa 100cm | 1.3Pa @125Hz | 157Hz | 2.5Pa 20cm @125Hz | Used in current commercial FC |
| BMP388 | $2 | 8Pa 66cm | 200Hz | |||
| BMP390 | $3 | 3Pa 25cm | 200Hz | 0.9Pa @25Hz, 5Pa 36cm @100Hz | ||
| MS5611 | $4 | 1.2Pa 10cm | 120Hz | |||
| SPL06-001 | $2 | 6Pa 50cm | 0.06Pa | 128Hz | 5Pa @128Hz | Similar to DSP310 |
| LPS22HB | $6 | 10Pa 80cm | 0.025Pa | 75Hz | 0.75Pa | |
| LPS22DF | $14 | 1Pa 8cm | 0.025Pa | 200Hz | 0.34Pa | |
| ILPS22QS | $14 | 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 |
Current Sensors
| Part | Breakout Board? | Notes |
|---|---|---|
| INA219 | $1 | 12-bit ADC, 0-26V |
| INA226 | $1.5 | 16-bit ADC, 0-36V, 1LSB = 1.25mV; ±16A with 5mΩ shunt, 1LSB = 0.5mA |
| INA228 | $5 | 20-bit ADC, 0-85V, 1LSB = 0.2mV; ±16A with 10mΩ shunt, 1LSB = 0.031mA |