Arduino cansat and IMUs

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Drivere kan findes her (opdateret apr 2022)

Very common IMU boards are GY80 and GY87 GY88 GY88a and GY91

A cloned board is HW-290 with qm35883 instead of hmc5883

Warning: GY-91 is sometimes NOT a GY-91 board with MPU9250 etc.

See in table. Even though components looks alike a GY-91 its just a MPU6000 that is real.

I have seen MPU6000 with MPU9250 printed on top …

Beware

Its a good idea to use an I2C scanner to see what is present

They are all 10 DOF (degree of freedom) boards and all sensor handling is by i2c bus.

GY boards

	GY-80	GY-87	GY-88	GY-88A	GY-91	fake GY-91	HW-290
digital compass	hmc5883L	hmc5883L	hmc5883L	hmc5983	mpu9250	none	qmc5883
pressure and temperature	bmp085	1 bmp085/180	bmp085/180	bmp180	bmp280	none	bmp085
3 axis accelerometer	adxl345	mpu6050	mpu6050	mpu6050	mpu9250	MPU6000	mpu6050
3 axis digital gyro	l3g4200d	mpu6050	mpu6050	mpu6050	mpu9250	MPU6000	mpu6050
schematics	schematics	schematics	schematics	schematics	schematics	none	schematics

Notes:

on the boards with MPU6050 the the hmc5883L accelerometer is located on a secundary I2C bus behind the MPU6050

See snippets code below

See full code here

#include <Wire.h>
#include <MPU6050.h>
#include <hmc5883l.h>
#include <bmp085.h>
#include "I2Cdev.h"

MPU6050 mpu;
hmc5883l compass;

int error;

void setup() {
  ...
  // 2000 degrees pr second max and +/- 16 g max
  mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_16G);

  mpu.setI2CBypassEnabled(true); // set bypass mode for gateway to hmc5883L

  // now we can reach hmc5883L
  compass = hmc5883l(); // Construct a new HMC5883 compass.
  ...

Datasheets and library SW

Src folder list: here

You install the ZIP file libraries as usual:

download library
sketch->Include library/ add .ZIP file
install

Some might use bmp180/280 which are a plugin compatible sucessors to bmp085.

Extra info

Tutorial about BMP085 pressure sensor

Plug in replacement

GY-80 and GY-87 can both be used on the AAU cansat shield version 4.

The GY-80 fills all holes - the GY-87 shall be located most far away from the openlog as shown on image below.