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Written by Bob   

Bobs 9DOF V2 (MPU6050, HMC5883L)

As sensors evolve and continue to get smaller and offer more in the same size or smaller package, so will the IMUs.  Now that Invensense seems to be able to keep up a bit better with demand, and I am sold out of the 9DOF V1 based on the ITG3200, BMA180 & HMC5883L, I figured now would be the best time to go ahead and retire the Invensense ITG3200, Bosch BMA180 & Honeywell HMC5883L 9DOF design and move to the V2 based on the Invensense MPU6050 / Honeywell HMC5883L combination.

I am currently waiting for the boards to come back from the US based board house and then assembly and testing will commence.

Thank you for patience and your support,

Bobs 9DOF V1 (ITG3200, BMA180, HMC5883L)

BobsQuads 9DOF V1 (Retired)

This design has been retired, a new design is in the works.

Combining the Invensense ITG-3200 3-axis Gyroscope, Bosch BMA180 3-axis Accelerometer and the Honeywell HMC5883L, all that have proven themselves the world over to be a very effective alone just makes sense to combine them into a singular 9DOF sensor board.  This board brings these three excellent sensors together making an exceptional 9DOF board for your flying experience. 

The sensor address solder switches/jumpers are set to their default addresses by me for your convenience (the addresses the MultiWiii code is looking for), as well as an on-board 5V->3V3 LDO regulator, low power (~2mA) LED, and 2K2Ω pull-up resistors already installed for ease of installation on your end.  Once you receive your sensor board, there are only 4 connections you need to make - 5V, GND, SCL & SDA - nice and easy.  Also, for use in other environments, the sensor interrupt/s have been brought out too.

This design has been retired, a new design is in the works.

- PCBs Manufactured in the USA
- Parts Sourced from US Based, Manufacture recommended Distributors

- Assembled in the USA

For mounting purposes, orientation is Y = forward and X = right so you can just un-comment the individual sensors in the config.h file of the sketch.  The parts of the config.h file that need to be modified are as follows:

Multiwii 1.9 and older:

I2C Speed (Set to 400KHz Fast Mode):
//#define I2C_SPEED 100000L     //100kHz normal mode, this value must be used for a genuine WMP

#define I2C_SPEED 400000L   //400kHz fast mode, it works only with some WMP clones

I2C Pullups (Disable them):
//enable internal I2C pull ups


Sensor Selection:

//if you use independent sensors
//leave it commented it you already checked a specific board above

/* I2C gyroscope */
#define ITG3200
//#define L3G4200D

/* I2C accelerometer */
//#define ADXL345
//#define BMA020
#define BMA180
//#define NUNCHACK  // if you want to use the nunckuk as a standalone I2C ACC without WMP
//#define LIS3LV02
//#define LSM303DLx_ACC

/* I2C magnetometer */
//#define HMC5843
#define HMC5883
//#define AK8975

Here is a modified MultiWii setup that has the correct sensors, I2C speed and pull-ups commented as necessary along with motorstop so your motors do not spin up as soon as you arm the FC:
MultiWii v1.9 for BobsQuads 9DOF

For MultiWii v1.9, use Arduino 0023

Mounting Orientation:


Mounting on a Bob's Super Simple Shield:


Last Updated on Friday, 07 November 2014 18:45