Pololu AltIMU-10 gyroscope, accelerometer, compass and altimeter

Sensor for measuring acceleration, magnetic field, angular speed and altitude. It is a combination of 3-axis accelerometer, magnetometer, gyroscope and barometer. Communicates via the I2C bus.

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Price 109,00 zł



Product replaced by the new version: AltIMU-10 v3 gyro, accelerometer, compass and altimeter.



Moduł AltIMU-10 to 3-osiowy akcelerometr, 3-osiowy magnetometr, 3-osiowy żyroskop oraz barometrSpecification

  • Supply voltage: 2.5 V - 5.5 V
  • Current consumption: 10 mA
  • Three axes: X, Y, Z
  • Communication interface: I2C (TWI)
  • Data format:
    • Accelerometer: 12-bit per axis (left-aligned)
    • Gyroscope: 16-bit per axis
    • Magnetometer: 12-bit per axis (left-aligned)
    • Barometer: 24-bit (4096 LSb/mbar)
  • Measuring ranges (configurable):
    • Accelerometer: ±2, ±4, ±8, ±16 g
    • Gyro: ±250, ±500, ±2000 °/s
    • Pressure: 26kPa - 128 kPa
    • Magnetometer: ±1.3, ±1.9, ±2.5, ±4.0, ±4.7, ±5.6, ±8.1 gauss
  • Size: 25.4 x 12.7 x 2.5 mm
  • Weight: 1 g (without connectors)




Module AltIMU-10 is a 3-axis accelerometer, 3-axis magnetometer (LSM303), 3-axis gyroscope (L3GD20) and the barometer (LPS331). Using these sensors it is possible to create a complete system AHRS (attitude and heading reference system), i.e. to determine the position of an object in space trójwymiarowwj. Data from the barometer can be easily replaced with the height, thanks żyroskopowi you can track the turnover of the object, and accelerometer, along with magnetometrem compensate for the drift of the gyroscope and determine the absolute reference point.


All the sensors communicate digitally via the I2C bus. The module has a voltage regulator and all necessary passive components. Conclusions are popular goldpin connectors, for connecting the sensor via wires or to connect directly attached to plate fixation.




AltIMU-10 is pin-compatible with the module MinIMU-9 v2. It has the same functions with the expansion of digital barometer that can be used as a height gauge. Properly written code for the MinIMU-9 v2 will work with the system AltIMU-10.


The product is compatible with Arduino

A library for the gyroscope L3G, accelerometer LSM303 and barometer LPS331that allow easy handling of sensors using Arduino.


Approximate program

In order to demonstrate the capabilities of the IMU module was provided with an example program for Arduino. It uses the data from the AltIMU-10 to determine the coordinates in three axes X, Y, Z, in order to render the object in 3D space, as shown in the pictures above. The software was created on the basis of the project of Jordi Munoz, William Premerlani, Jose Julio and Doug Weibela.


Wizualizacja w przestrzeni trójwymiarowej przy pomocy AltIMU-10

Visualization of an object in 3D space.


The sensor has five insights for mounting goldpin connectors - 2.54 mm raster (included).


Wyprowadzenia modułu IMU 3D





SCLThe clock line of the I2C bus. High, equal, equal voltage VIN. Low GND.
TrafficThe data line of the I2C bus. High, equal, equal voltage VIN. Low GND.
GNDThe potential of mass of the system
VINThe voltage from 2.6 V to 5.5 V
VDDIn the case when tense supply higher than 3.3 V, the output can be the output voltage 3.3 V maximum output current up to 150mA. When the supply voltage is in the range of 2.5 V - 3.3 V, you should connect it to the output VDD.

Addressing I2C

Accelerometer, magnetometer, gyroscope and barometer, in a module, the addresses are 7-bit. Installed sa, respectively:

  • Accelerometer LSM303DLHC - 0011001b
  • Magnetometer LSM303DLHC - 0011110b
  • Gyroscope L3GD20 - 1101011b
  • Barometer LPS331AP - 1011101b

The bus operates with a clock frequency of 400 MHz, higher values may work correctly, but have not been tested.


Tips of first use

All the necessary information about the connection and maintenance of the sensors module AltIMU-10, see the documentation for the individual sensors. Below are several basic facts:

  • Pressure sensor, accelerometer, and gyro are disabled by default. You have to run them by setting the appropriate bits in the appropriate registers.
  • Possible multi-read and multi-record accelerometer, gyroscope and barometer with one command via I2C the value of the most significant bit of the address (starting autoinkrementacji).
  • Pressure sensor (barometer) is the data format 24-bit. Accelerometer, magnetometer and gyroscope to send 16-bit words, but only gyroscope data are 16-bit, the other two sensors have the precision to 12-bit.
  • The accelerometer on default, runs with a resolution of 10-bits. In order to use the full 12-bit accuracy, you need to set HR bits in the registry CTRL_REG4_A.
  • Sensor LSM303DLHC is the output of the accelerometer and magnetometer (compass) in a single chip. Both devices have different addresses on the I2C bus.


Visualization of the spatial orientation based on readings of the IMU module.



The system is small in size, its outline is a rectangle of size: 25.4 x 12.7 mm, used For mounting hole with inside diameter of 2.18 mm.


Moduł IMU wymiary i wyprowadzenia



In the system are, in particular, voltage regulators, filter capacitors, resistors podciągające (for example, lines of the I2C bus), and other passive components that facilitate the use of IMU sensors.

Schemat modułu Pololu





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The table presents available forms of delivery in Poland


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by cash


Poczta Polska

terms of service

9,90 PLN17,90 PLN1-3 days

Kurier GLS

terms of service

14,90 PLN22,90 PLN

1-2 days

Paczkomaty 24/7 

terms of service

12,90 PLN-1-3 days

If the amount to pay for products exceeds 500 PLN
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  • Free delivery of orders over 500 PLN does not apply to parcels addressed outside of Poland.
  • Free delivery does not apply when changing orders.
  • The delivery period is counted in working days from the date of dispatch of the order.