The magnetometer sensor measures the magnetic field for all three physical axes (x, y, z) in μT (micro Tesla). Magnetometer provides information about the magnetic field detected by the device sensor, and in theory, can expose location of a user. Measuring acceleration makes it possible to obtain information such as object inclination and vibration.Ĭommonly, g is used as a unit for acceleration, relative to standard gravity (1g = 9.80665m/s2).
Roll : horizontal rotation when seen the object from front.Īccelerometer sensors are integrated circuits (ICs) that measure acceleration, which is the change in speed per unit time. Pitch : vertical rotation as seen the object from front. Yaw : the horizontal rotation on a flat surface when seen the object from above. Measured in degrees (or radian) per second, angular velocity is the change in the rotational angle of the object per unit of time.ĭepending on the direction there are three types of angular rate measurements: The MPU-9250 uses 16-bit analog-to-digital converters (ADCs) for digitizing all 9 axes.Ī gyroscope is a device used for measuring or maintaining orientation and angular velocity. Internally it includes the MPU-6500, which contains a 3-axis gyroscope plus a 3-axis accelerometer, and the AK8963, the market leading 3-axis digital compass. It has many advanced features, including low pass filtering, motion detection and even a programmable specialized processor. It replaces the popular MPU-9150 lowering the power consumption, improving gyro noise and compass full scale range performance. 
MPU-9250 is one of the most advanced combined accelerometer, gyroscope and compass small size sensors currently available. Main article: Reading MPU9250 sensors with Arduino
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