The Acc_Gyro(6 DOF) is a 6 degrees of freedom Inertial Measurement Unit (IMU), capable of measuring acceleration on all 3-axis as well as rotation rate about the X, Y and Z axis. Combining values from both accelerometer and gyroscope will allow you to obtain accurate values of inclination angles relative to the earth's surface (see Starlino's IMU guide).

Key Features and Components:

– LIS331AL (datasheet) – analog 3-axis 2G accelerometer

– LPR550AL (datasheet) – a dual-axis (Pitch and Roll), 500deg/second gyroscope

– LY550ALH (datasheet) – a single axis (Yaw) gyroscope

– Built-in 3.3V regulator, board can be used in both 3.3V and 5V projects

– Built-in analog high-pass and low-pass filters, for noise rejection and drift compensation

Dimensions: 1.8" x 0.8" (46 x 21 mm)

Supply current: < 10mA

Supply voltage: 3.3V to 6V

Accelerometer Module Specs:

Acceleration range: +/- 2g

Sensitivity: 478.5 mV/g

Zero-g-level: 1.65V  (+/- 6%)

Low pass filter(noise reduction): 50Hz

Gyroscope Module Specs:


GX4,GY4, GZ4: 4x (amplified) +/- 500deg/sec

GXF,GYF: 1x(non-amplified) +/- 2000deg/sec


GX4,GY4, GZ4: 4x (amplified) 2 mV/Deg/sec

GXF,GYF: 1x (non-amplified) 0.5 mV/Deg/sec

Zero-rate level: 1.23V

High pass-filter (drift compensation): 0.16Hz

Low pass-filter (noise reduction): 160Hz


Main Board Schematic (acc_gyro)

Add-on Board Schematic (gyro_yaw)

Pinouts & Connections with UsbThumb (see acc_gyro and gyro_yaw columns)

References/Sample Projects

Using Acc_Gyro Board with Arduino. Simplified Kalman Filter

A Guide To using IMU (Accelerometer and Gyroscope Devices) in Embedded Applications

Quadcopter Design using Acc_Gyro

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