InvenSense 9-Axis IMU · 3-Axis Gyro + 3-Axis Accel + 3-Axis Mag (AK8963) · SPI/I²C · QFN-24 3×3mm · Drone AHRS and heading sensor
| Parameter | Value |
|---|---|
| Axes | 9-axis (Gyro + Accel + Magnetometer) |
| Package | QFN-24, 3×3×1mm |
| Interface | SPI (up to 1 MHz) / I²C (up to 400 kHz) |
| Supply Voltage | 2.4V – 3.6V (VDD); 1.71V – 3.6V (VDDIO) |
| Gyro Range | ±250 / ±500 / ±1000 / ±2000 °/s |
| Accel Range | ±2 / ±4 / ±8 / ±16 g |
| Operating Temp | -40°C to +85°C |
| FIFO | 512 bytes |
| Gyro Parameter | Value |
|---|---|
| Full Scale Range | ±250 / ±500 / ±1000 / ±2000 °/s |
| Sensitivity (±250) | 131 LSB/°/s |
| Noise Density | 0.01 °/s/√Hz |
| ODR | 4–8000 Hz programmable |
| Accel Parameter | Value |
| Full Scale Range | ±2 / ±4 / ±8 / ±16 g |
| Sensitivity (±2g) | 16384 LSB/g |
| Noise Density | 300 µg/√Hz |
| ODR | 4–4000 Hz |
| AK8963 Magnetometer | Value |
|---|---|
| Measurement Range | ±4800 µT |
| Resolution | 14-bit or 16-bit |
| Sensitivity | 0.6 µT/LSB (16-bit) |
| ODR | 8 Hz or 100 Hz |
| Interface to Host | Via MPU-9250 auxiliary I²C bus |
| Self-Test | Built-in |
| Parameter | Value |
|---|---|
| Part Number | MPU-9250 |
| Package | QFN-24 (3×3×1mm) |
| RoHS | Compliant |
| MOQ | 1 pcs |
| Lead Time | In Stock |
The MPU-9250 is TDK InvenSense's 9-axis motion tracking device that integrates a 3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer (AK8963 compass IC) in a single 3×3mm QFN package. It was the industry-standard drone AHRS (Attitude and Heading Reference System) sensor for years before the ICM-42688-P superseded it.
The integrated magnetometer provides absolute heading information, allowing the drone flight controller to determine magnetic north. This is critical for GPS-assisted hover, waypoint navigation, and return-to-home functionality. ArduPilot, PX4, iNav, and Cleanflight all have full MPU-9250 support.
| Model | Axes | Gyro Noise | Mag | Status |
|---|---|---|---|---|
| MPU-6000 | 6 | 0.005 °/s/√Hz | No | Legacy |
| MPU-6500 | 6 | 0.01 °/s/√Hz | No | Active |
| MPU-9250 | 9 | 0.01 °/s/√Hz | Yes | Active |
| ICM-20602 | 6 | 0.004 °/s/√Hz | No | Active |
| ICM-42688-P | 6 | 0.0028 °/s/√Hz | No | Latest |