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 last updated: Mar 2025
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-42670-P | $3 | 1.6k gyro+acc | 7 | 100 | Marketed for drones |
| ICM-42688-P | $6 | 32k gyro | 2.8 | 70 | Used in current high performance FC |
| ICM-45686 | no | 6.4k gyro+acc | 3.8 | 80 |
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 | LSB Resolution | ADC | Full Scale | Notes |
|---|---|---|---|---|---|---|
| QMC5883L | $2 | 200 Hz | 8nT @ ±200µT | 16-bit | ±200 or ±800µT | chip marking "5883" |
| HMC5883L | $2 | 160 Hz | 70nT @ ±100µT | 12-bit | ±100 to ±800µT | chip marking "L883" |
| HMC5983 | $2 | 220 Hz | 70nT @ ±100µT | 12-bit | ±100 to ±800µT | |
| MMC5983MA | $15 | 1000 Hz | 6nT @ ±800µT | 18-bit | ±800µT | |
| AK8963 | 100 Hz | 150nT | 16-bit | integraded in MPU9250 | ||
| AK8975 | 100 Hz | 300nT | 13-bit | integraded in MPU9150 | ||
| AK09916 | 100 Hz | 150nT | 16-bit | integraded in ICM-20948 | ||
| IST8310 | 200 Hz | 300nT | 14-bit | |||
| LIS2MDL | 100 Hz | 15nT | 16-bit | |||
| BMM150 | $7 | 300 Hz | 300nT | ±1300µT | NRND | |
| BMM350 | $7 | 400 Hz | 100nT | 16-bit | ±2000µT | |
| RM3100 | $25 | 500 Hz | 13nT @ 150 Hz | no ADC | ±800µT | Uses coils, not hall sensors |
Barometer
When used as altimeter: approx 12 Pa (0.12 mbar) per meter at sea level.
| Part | Breakout Board? | Relative Precision | ADC Resolution | Max Measurement Rate | RMS Noise | Notes |
|---|---|---|---|---|---|---|
| DPS310 | $3 | "relative accuracy 6Pa 50cm" | 0.06Pa | 128Hz | 0.35Pa @35Hz | 2.5x2x1 mm, 8 pin, pitch 0.65mm |
| SPL06-001 | $2 | 6Pa 50cm | 0.06Pa | 128Hz | 1.2Pa @35Hz | Registers identical to DSP310, but noisier |
| BMP180 | $2 | |||||
| BMP280 | $2 | "relative accuracy 12Pa 100cm" | 0.25Pa raw 20 bit ADC value | 26-167Hz OSR=16-1 | 2.5Pa 20cm @125Hz | 2.5x2x1mm, 8 pin, pitch 0.65mm |
| BMP388 | $2 | 8Pa 66cm | 200Hz | |||
| BMP390 | $3 | "relative accuracy 3Pa 25cm" | 2.6Pa 16bit OSR=1 to 0.8Pa 21bit OSR=32 | 25-200Hz OSR=32-1 | 0.9Pa @25Hz OSR=32, 5Pa @100Hz | 2x2x0.75mm, 10 pi, pitch 0.5mm |
| MS5611 | $4 | "high resolution 10cm" | 0.014Pa raw 24 bit ADC value | 120-2000Hz OSR=4096-256 | 5x3x1 mm, 8 pin, pitch 1.25mm | |
| MS5607 | "high resolution 20cm" | 0.014Pa raw 24 bit ADC value | 120-2000Hz OSR=4096-256 | 5x3x1 mm, 8 pin, pitch 1.25mm | ||
| MPL3115A2 | $5 | 0.25Pa | 166Hz | 19Pa @166Hz, 1.5Pa @2Hz | ||
| LPS22HB | $6 | 10Pa 80cm | 0.025Pa | 75Hz | ||
| LPS22DF | $14 | 1Pa 8cm | 0.025Pa | 200Hz | ||
| ILPS22QS | $14 | 1.5Pa 12cm | 0.025Pa | 200Hz | ||
| HP203B | "Altitude Resolution down to 0.1 meter" | 0.01Pa 20 bit value (24bit ADC) | 8-240Hz OSR=4096-128 | 3.8×3.6×1.2 mm, 8 pin, pitch 0.9mm |
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 | MPU9255 (not 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 |
Radar Modules
| Part | Module Price | Manufacturer | Max Range | Resolution | Sample Rate | Notes |
|---|---|---|---|---|---|---|
| LD2411S | $4 | Hi-link | 6m | 1cm (accuracy 5%) | 10Hz | 24G Radar, Distance detection - Tested stationary indoor approx 1m above floor: gives very erratic values and appears not to react on change in height... Not useful for madflight... |
| LD2413 | $11 | Hi-link | 10m | 1mm (accuracy 3mm) | 20Hz | 24G Radar, Liquid level - Tested stationary indoor approx 1m above floor: works but about 2 second delay reporting change in height... Not useful for madflight... |
| LD2451 | $7 | Hi-link | 100m | 1m | 24G Radar, Vehicle detection, tracks relative speed, angle and distance of multiple targets | |
| RD-03E | $3 | Ai-tinker | 6m | 1cm (accuracy 5%) | 24G Radar, Ranging Firmware (also exist with Gesture Firmware) | |
| SR04M-2 | $3 | no-name | 6m | 20Hz | Waterproof Ultrasonic, pwm output. - Tested stationary indoor approx 1m above floor: works but sensor axis needs to be perpendicular (approx. +/-15 degrees) to floor to give correct readings. |