AltIMU-10 v5 Gyro, Accelerometer, Compass, and Altimeter (LSM6DS33, LIS3MDL, and LPS25H Carrier)

File downloads

• LSM6DS33 datasheet (1MB pdf)

  Datasheet for the ST LSM6DS33 3D accelerometer and 3D gyroscope.

• AN4682: LSM6DS33 application note (1MB pdf)

  This application note from ST provides usage information and application hints for the LSM6DS33 accelerometer and gyro.

• LIS3MDL datasheet (2MB pdf)

  Datasheet for the ST LIS3MDL 3-axis magnetometer.

• AN4602: LIS3MDL application note (598k pdf)

  This application note from ST provides usage information and application hints for the LIS3MDL magnetometer.

• Datasheet for the ST LPS25H MEMS pressure sensor (1MB pdf)

• UM10204 I²C-bus specification and user manual (1MB pdf)

  The official specification for the I²C-bus, which is maintained by NXP.

• AltIMU-10 v5 schematic diagram (119k pdf)

  Printable schematic diagram of the AltIMU-10 v5 Gyro, Accelerometer, Compass, and Altimeter (LSM6DS33, LIS3MDL, and LPS25H Carrier).

• Dimension diagram of the AltIMU-10 v5 Gyro, Accelerometer, Compass, and Altimeter (LSM6DS33, LIS3MDL, and LPS25H Carrier) (419k pdf)

• Drill guide for the AltIMU-10 v5 Gyro, Accelerometer, Compass, and Altimeter (LSM6DS33, LIS3MDL, and LPS25H Carrier) (21k dxf)

  This DXF drawing shows the locations of all of the board’s holes.

• 3D model of the AltIMU-10 v5 Gyro, Accelerometer, Compass, and Altimeter (LSM6DS33, LIS3MDL, and LPS25H Carrier) (4MB step)

Recommended links

• LSM6 library for Arduino

  An Arduino library for interfacing with the LSM6DSO and LSM6DS33 accelerometer and gyro ICs.

• LIS3MDL library for Arduino

  An Arduino library for interfacing with the LIS3MDL magnetometer.

• LPS Arduino library

  This is a library for the Arduino that interfaces with our LPS22DF, LPS25HB, LPS25H, and LPS331AP pressure/altitude sensor carriers as well as the pressure sensors on the various AltIMU-10 modules, which can be found here. It makes it simple to read the raw pressure data from the sensor, and it provides functions to help calculate altitude based on the measured pressure.

• MinIMU-9 + Arduino AHRS

  This Arduino program (sketch) allows an Arduino connected to a MinIMU-9 v5 or AltIMU-10 v5 (or older versions of those boards) 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.

• minimu9-ahrs software for Raspberry Pi

  This is a program for reading sensor data from Pololu IMU boards over I²C. It was written for and tested on the Raspberry Pi, but it will probably also work on similar embedded Linux boards that support I²C.

• Quick and Dirty Compass Calibration in 3d

  A blog post by Michael Shimniok about calibrating the magnetometer in the LSM303DLH and visualizing magnetic distortions. This information can generally be applied to other magnetometers as well.