Overview

What is it?

Hummingdrone 10-DOF IMU module is able to sense and measure 10 different parameters for motion and orientation tracking. It has an IMU and a barometer on it. With IMU and some sensor fusion methods, you can calculate the roll-pitch-yaw angles of the module and with barometer you can get the height. It can communicate through I2C or SPI. Also it has logic level converters inside so you don't have to connect any external components (such as pull-up resistors) while wiring it to a controller board.

Sensors used on this module are:

• LSM9DS1 9-DOF IMU
• BMP280

LSM9DS1 has a 3-axis accelerometer, a 3-axis gyroscope and a 3-axis magnetometer (digital compass) inside.

• Accelerometer: ±2/±4/±8/±16 g
• Gyroscope: ±245/±500/±2000 dps
• Magnetometer: ±4/±8/±12/±16 gauss

BMP280 barometric pressure sensor is used for measuring atmospheric pressure to calculate altitude. It can also measure the temperature.

• Pressure measurement sensitivity: ±1 hPa
• Temperature measurement sensitivity: ±1.0°C

Why did you make it?

We are working on a modular autonomous drone platform and developing our own sensor modules for this purpose. These modules are suitable for use in many types of projects such as:

• Indoor navigation
• Motion control
• Activity monitoring and step counting
• Vibration measurement
• 10-dimensional tracking of trajectories
• Free-fall detection
• Drones and flying toys

What makes it special?

The module supports both I2C and SPI interfaces. It has an internal logic level converter, a small footprint and high quality ST and Bosch sensors

It has a logic level shifter inside. Hence can be connected to both 3.3V and 5V logic level boards. For example: Raspberry Pi is a 3.3V logic level board while Arduino Uno is a 5V board. This module is able to be wired to both without a need for any external components.

Pin Descriptions

Power Pins:

• Vin – Sensors used on the module are 3V sensors, so the module has a regulator on it. This regulator lets us connect 3V to 5V input voltage to Vin pin. You should choose the same voltage level as your microcontroller while powering up your module. For example: If you are working with an Arduino Uno which has 5V logic level, you should connect 5V to Vin pin.
• 3V3 - You can feed the module with 3V3 trough this pin or you can get a 3V3 output from it while Vin is connected to a power source.
• GND - Ground pin

SPI Pins:

• SCK - SPI clock pin
• SDO - LSM9DS1 and BMP280 MISO pin
• SDA - LSM9DS1 and BMP280 MOSI pin
• CSAG - LSM9DS1 accel and gyro chip select pin (also known as SS / CS)
• CSM - LSM9DS1 magneto chip select pin
• CSB - BMP280 chip select pin

I2C Pins:

• SCK - I2C clock pin
• SDA - I2C data pin

Other Pins:

• DRDY – Accel and gyro data ready pin
• DEN – Accel and gyro enable/disable pin
• INT1 & INT2 - Accel and gyro interrupt pins
• INTM – Magneto interrupt pin

Other

Libraries

• BMP280 Arduino library: https://github.com/adafruit/Adafruit_BMP280_Library
• LSM9DS1 Arduino library: https://github.com/sparkfun/SparkFun_LSM9DS1_Arduino_Library
• BMP280 Raspberry Pi library: https://github.com/adafruit/Adafruit_CircuitPython_BMP280
• LSM9DS1 Raspberry Pi library: https://github.com/adafruit/Adafruit_CircuitPython_LSM9DS1

For more information about the sensors on this module:

• https://www.st.com/en/mems-and-sensors/lsm9ds1.html
• https://www.bosch-sensortec.com/bst/products/all_products/bmp280