MinIMU-9 Gyro, Accelerometer, and Compass (L3G4200D and LSM303DLH Carrier)
 
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The Pololu MinIMU-9 is an inertial measurement unit (IMU) that packs an L3G4200D 3-axis gyro and an LSM303DLH 3-axis accelerometer and 3-axis magnetometer onto a tiny 0.9″ × 0.6″ board. An I²C interface accesses nine independent rotation, acceleration, and magnetic measurements that can be used to calculate the sensor’s absolute orientation.
Note: This board has been replaced by the newer MinIMU-9 v2.
| Description | Specifications (8) | Pictures (6) | Resources (7) | FAQs (1) |
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File downloads
- MinIMU-9 schematic diagram (36k pdf)
- L3G4200D datasheet (1MB pdf)
- Datasheet for the ST L3G4200D ultra-stable three-axis digital-output gyroscope.
- LSM303DLH datasheet (599k pdf)
- Datasheet for the ST LSM303DLH 3-axis accelerometer and 3-axis magnetometer.
- UM10204 I²C-bus specification and user manual (371k pdf)
- The official specification for the I²C-bus, which is maintained by NXP.
Recommended links
- L3G4200D and L3GD20 Arduino library
- This is a library for the Arduino that interfaces with our L3G4200D and L3GD20 3-axis gyro carriers as well as the gyros on the MinIMU-9 and MinIMU-9 v2. It makes it simple to configure the device and read the raw gyro data.
- LSM303 Arduino library
- This is a library for the Arduino that interfaces with our LSM303DLM and LSM303DLHC 3D compass and accelerometer carriers as well as the compass and accelerometer ICs on the MinIMU-9 and MinIMU-9 v2 (it also works with the LSM303DLH on older versions of those boards). It makes it simple to configure the device and read the raw accelerometer and magnetometer data, and it has a function for computing the tilt-compensated heading for those looking to use the LSM303 as a tilt-compensated compass.
- MinIMU-9 + Arduino AHRS
- This Arduino program (sketch) allows an Arduino connected to a MinIMU-9 or MinIMU-9 v2 to function as an attitude and heading reference system, calculating estimated roll, pitch, and yaw angles from sensor readings that can be visualized with a 3D test program on a PC. It is based on the work of Jordi Munoz, William Premerlani, Jose Julio, and Doug Weibel.
Visualization of AHRS orientation calculated from MinIMU-9 readings.
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