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MinIMU-9 v2 Gyro, Accelerometer, and Compass (L3GD20 and LSM303DLHC Carrier)
 
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The Pololu MinIMU-9 v2 is an inertial measurement unit (IMU) that packs an L3GD20 3-axis gyro and an LSM303DLHC 3-axis accelerometer and 3-axis magnetometer onto a tiny 0.8″ × 0.5″ board. An I²C interface accesses nine independent rotation, acceleration, and magnetic measurements that can be used to calculate the sensor’s absolute orientation. The MinIMU-9 v2 board includes a voltage regulator and a level-shifting circuit that allows operation from 2.5 to 5.5 V, and the 0.1″ pin spacing makes it easy to use with standard solderless breadboards and 0.1″ perfboards.
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| Description | Specifications (8) | Pictures (7) | Resources (10) | FAQs (1) |
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File downloads
- MinIMU-9 v2 schematic diagram (149k pdf)
- L3GD20 datasheet (2MB pdf)
- Datasheet for the ST L3GD20 three-axis digital-output gyroscope.
- LSM303DLHC datasheet (629k pdf)
- Datasheet for the ST LSM303DLHC 3D accelerometer and 3D magnetometer module.
- 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. - MinIMU-9 v2 connected to 3ds Max in real time
- A MinIMU-9 v2 is connected to an Arduino Uno to interact in real time with 3ds Max. This 3ds Max MinIMU-9 tutorial (5MB zip) includes source code, 3ds Max files, and step-by-step instructions. By Nippur, August 2012.
- Pololu_Open_IMU by mikeshub
- This customer-submitted Arduino program (sketch) is similar to our MinIMU-9 + Arduino AHRS except it uses the Madgwick algorithm. It outputs pitch, yaw, and roll angles.
- Using the L3GD20 gyroscope in control systems
- This is a YouTube playlist by control systems lecturer Brian Douglas that uses the L3GD20 MEMS gyroscope. It describes the fundamentals of the gyro and how to use it for closed and open loop control projects with MATLAB/Simulink and Arduino.
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