The MPU-9250 is a 9-axis motion tracking device that combines a 3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer and a Digital Motion Processor™ (DMP) all in a small board available as a pin-compatible upgrade from the MPU-6515. With its dedicated I2C sensor bus, the MPU-9250 directly provides complete 9-axis MotionFusion™ output. The MPU-9250 MotionTracking device, with its 9-axis integration, on-chip MotionFusion™, and run-time calibration firmware, enables manufacturers to eliminate the costly and complex selection, qualification, and system level integration of discrete devices, guaranteeing optimal motion performance for consumers. MPU-9250 is also designed to interface with multiple non-inertial digital sensors, such as pressure sensors, on its auxiliary I2C port.
1 x MPU-9250 9DOF Module
1 x Pin Header 1 x 10
|Pin Label||Pin Function||Notes|
|GND||Ground reference||+0V or Ground|
|SCL||I2C serial clock
SPI serial port clock
|100 or 400 kHz I2C
Up to 1 MHz SPI (20 MHz in certain cases)
|SDA||I2C serial data||Can also be used for SPI serial data input (SDI)|
|EDA||Ground reference||I2C master serial data, for connecting to external sensors|
|ECL||Ground reference||I2C Master serial clock, for connecting to external sensors|
|AD0||Address selection||I2C Slave Address LSB (AD0):
Low: 0b1101000 ➫ 0x68
High: 0b1101001 ➫ 0x69
SPI serial data output (SDO)
|INT||Interrupt signal||Interrupt digital output (totem pole or open-drain)|
|NCS||Chip select||Chip select (SPI mode only)|
|FSYNC||Ground reference||Frame synchronization digital input. Connect to GND if unused.|
Arduino Sketch & Example
Q & A
What is the difference between MPU-6050?
The biggest difference between the MPU-6050 and the 9250 is the presence or absence of a geomagnetic sensor.
As the MPU-6050 does not include a geomagnetic sensor, there is an error in the yaw direction which is horizontal to the ground.
On the other hand, because the MPU-9250 includes a geomagnetic sensor, it can extract the exact angle in the yaw direction.
You can choose 6050 or 9250 according to the need of yaw direction.