Bosch is the first company to get this right by taking a MEMS accelerometer, magnetometer and gyroscope and putting them on a single die with a high speed ARM Cortex-M0 based processor to digest all the sensor data, abstract the sensor fusion and real time requirements away, and spit out data you can use in quaternions, Euler angles or vectors.
- Absolute Orientation (Euler Vector, 100Hz) Three axis orientation data based on a 360° sphere
- Absolute Orientation (Quaterion, 100Hz) Four point quaternion output for more accurate data manipulation
- Angular Velocity Vector (100Hz) Three axis of 'rotation speed' in rad/s
- Acceleration Vector (100Hz) Three axis of acceleration (gravity + linear motion) in m/s^2
- Magnetic Field Strength Vector (20Hz) Three axis of magnetic field sensing in micro Tesla (uT)
- Linear Acceleration Vector (100Hz) Three axis of linear acceleration data (acceleration minus gravity) in m/s^2
- Gravity Vector (100Hz) Three axis of gravitational acceleration (minus any movement) in m/s^2
- Temperature (1Hz) Ambient temperature in degrees celsius
So the very nice sensor has been placed on its own breakout, complete with 3.3V regulator, logic level shifting for the Reset and I2C pins, an external 32.768KHz crystal (recommended for best performance), and breakouts for some other pins you might find handy. Comes assembled and tested, with a small piece of header. Some soldering is required to attach the header to the breakout PCB, but its pretty easy work.