Gravity: 10DOF IMU Sensor for Motion, Heading & Altitude Changes (I2C / UART, Plug & Play)
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Description
The Gravity 10DOF IMU Sensor combines Bosch BMI323, BMM350, and BMP581 sensing elements to deliver complete 10-axis motion, magnetic heading, and barometric altitude tracking. Designed with an onboard microcontroller, standard Gravity PH2.0-4P connector, and I2C/UART support, it eliminates the complexity of wiring and configuring three discrete sensors. It is ideal for students, makers, and engineers developing robotics, wearable tracking, and orientation algorithms on Arduino, ESP32, or Raspberry Pi.
Integrated ten-axis Bosch sensing
The module combines a 6-axis BMI323 IMU, a BMM350 magnetometer, and a high-precision BMP581 barometric pressure sensor on a compact 32 mm by 27 mm board. An onboard MCU aggregates the sensor streams into a unified data flow over I2C or UART.
High-rate motion and event detection
The 16-bit BMI323 delivers output rates up to 6400 Hz with accelerometer ranges up to plus or minus 16 g and gyroscope ranges up to plus or minus 2000 degrees per second. Integrated hardware algorithms offload tap, tilt, step counting, free-fall, and activity detection directly on the sensor.
Heading awareness and altitude evaluation
A third-generation TMR BMM350 magnetometer provides 0.1 microtesla resolution and low output noise for accurate heading calculations. The BMP581 barometric sensor measures pressure down to 0.0156 Pa resolution with typical plus or minus 6 Pa relative accuracy for precise floor, ramp, and elevation tracking.
Plug-and-play evaluation and visual GUI
Operating from 3.3 V to 5 V with four selectable I2C addresses, the module interfaces smoothly using a single integrated DFRobot library. A dedicated Gravity GUI allows users to view raw multi-sensor telemetry and real-time 3D attitude fusion before writing application code.
Robotics and elevation tracking applications
Compatible with Arduino Uno, Mega, Leonardo, Raspberry Pi 5, Pico, and FireBeetle ESP32 boards, the module is well-suited for diverse embedded builds. Typical use cases include indoor mobile robot navigation, ramp and terrain evaluation, wearable elevation logging, and multi-sensor fusion prototyping.
Downloads & documentation
Specifications
| Operating Voltage | DC 3.3–5 V |
| Operating Current | 3.59 mA |
| Communication Interface | I²C / UART |
| Connector Type | PH2.0-4P (Gravity pinout) / 2.54 mm pin header holes |
| I²C Addresses | 0x4A (default), 0x4B, 0x4C, 0x4D |
| Programmable Interrupt Pins | ×4 |
| Measurement Ranges | ±2 g, ±4 g, ±8 g, ±16 g |
| ADC Resolution | 16-bit |
| ±2 g range | 16384 LSB/g |
| ±4 g range | 8192 LSB/g |
| ±8 g range | 4096 LSB/g |
| ±16 g range | 2048 LSB/g |
| Sensitivity Error | ±0.5% |
| Zero-g Offset | ±50 mg |
| High Performance / Normal mode | 12.5 Hz ~ 6400 Hz |
| Low Power mode | 0.78125 Hz ~ 400 Hz |
| Angular Rate Ranges | ±125, ±250, ±500, ±1000, ±2000 °/s |
| ±2000 °/s range | 16.384 LSB/(°/s) |
| ±1000 °/s range | 32.768 LSB/(°/s) |
| ±500 °/s range | 65.536 LSB/(°/s) |
| ±250 °/s range | 131.072 LSB/(°/s) |
| Zero-Rate Offset | ±1 °/s |
| Measurement Range | ±2000 µT |
| Magnetic Field Resolution | approx. 0.1 µT |
| Zero-Field Offset Drift | ±2 µT (-40 °C ~ +85 °C, after calibration) |
| X/Y-Axis Gain Error | ±1% (25 °C, after API compensation) |
| Z-Axis Gain Error | ±3% (25 °C, after API compensation) |
| Sensitivity Temperature Drift | ±0.010 %/K |
| Offset Temperature Error | ±200 nT/K |
| Operating Modes | Normal periodic measurement, triggered forced measurement, low-power sleep standby |
| Normal Mode Output Data Rate | 400/200/100/50/25/12.5/6.25/3.125/1.5625 Hz, typical deviation ±2% |
| Forced Mode Maximum Trigger Frequency | 200 Hz (avg=0 only) |
| X/Y-Axis Output Noise | 190 nTrms |
| Z-Axis Output Noise | 450 nTrms |
| Pressure Measurement Range | 30 kPa ~ 125 kPa |
| Pressure Relative Accuracy | typical ±6 Pa within 700~1100 hPa, 15~55 °C |
| Pressure Temperature-Induced Offset | ±0.5 Pa/K |
| Pressure Resolution | approx. 0.0156 Pa |
| Pressure Long-Term Annual Drift | ±10 Pa |
| Temperature Measurement Range | -40 °C ~ +85 °C |
In the box
| Gravity: High Precision 10 DOF IMU Sensor ×1 | 1 |
| Gravity 4P Sensor Cable ×1 | 1 |
| 2.54 mm Black Single Row Pin Header – 10-Pin ×1 | 1 |
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