Arduino cansat and IMUs

Two very common IMU boards are GY80 and GY87(and GY-88 which is component identical to GY-87).

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

GY-80 IMU board

GY-87/88 IMU board

Arduino drivercode

Unzip the zip files in youe … arduinosketchbooklibraries directory See in ardunio Preferences where your sketcbook directory is located. You can find libraries directory in the sketchbook directory.

• libraries.zip

NB NB NB : in some of the democode they initalise the serial port to 9600 and in some to 115200
Check it so you can adjust your arduino terminal to same speed.

Datasheets

• ADXL345.pdf

• BMP085.pdf

• BMP180.pdf

• HMC5883L.pdf

• L3G4200D.pdf

• MPU6050.pdf

• datazip.zip all above

Some might use bmp180 which is compatible sucessor to bmp085.

NB NB NB hmc5883l

On the GY-87 board the hmc5883l is located behind the MPU6050. So you have to activate a bypass mode in the MPU6050:

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.

AAU cansat shield v 4 with GY-80 / GY-87 attached.

Schematics

• GY-80

• GY-87

• schematics for AAU cansat shield v4fire

#include <Wire.h>
#include <MPU6050.h>
#include <hmc5883l.h>

MPU6050 mpu;  // the mpu6050

hmc5883l compass; // Store our compass as a variable.


void setup()
{
  Wire.begin();
  mpu.begin();  // initalise MPU6050
  mpu.setI2CBypassEnabled(true); // set bypass mode
  // now we can reach hmc5883l
  compass = hmc5883l(); // Construct a new HMC5883 compass.
  ...

Image of shield vrs 4

Our cansat shield with a GY80, an apc220 radio og openlog logger attached.

Soldering

take a look at a very small soldering tutorial

Other sensor code

FYI

• See GYSensor for some code

• i2cdevlib

  • found at https://github.com/jrowberg/i2cdevlib/tree/master/Arduino Rowberg has tried to DOF a uniform interface.