MinIMU-9 v6 Gyro, Accelerometer, and Compass (LSM6DSO and LIS3MDL Carrier)

File downloads

• Schematic diagram of the MinIMU-9 v6 Gyro, Accelerometer, and Compass (LSM6DSO and LIS3MDL Carrier) (103k pdf)

• Dimension diagram of the MinIMU-9 v6 Gyro, Accelerometer, and Compass (LSM6DSO and LIS3MDL Carrier) (294k pdf)

• 3D model of the MinIMU-9 v6 Gyro, Accelerometer, and Compass (LSM6DSO and LIS3MDL Carrier) (4MB step)

• Drill guide for the MinIMU-9 v6 Gyro, Accelerometer, and Compass (LSM6DSO and LIS3MDL Carrier) (15k dxf)

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

• LSM6DSO datasheet (3MB pdf)

• AN5192: LSM6DSO application note (2MB pdf)

  This application note from ST provides usage information and application hints for the LSM6DSO 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.

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

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

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.

• 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.