Connecting an external IMU to the PX4FMU

Good morning everyone,

I'm trying to connect an external IMU (inertial measurement units), however due to the limited reference material provided by 3DR. I having trouble figuring out which pins on each sensor are outputting their sensor data to either the system processor or the MPU-6000.

I have found out that the HMC5883L uses pins 16 and 1 to send SDA and SCL to pins 6 and 7 on the MPU. 

However I can't seem to figure out which pins on the L3GD20; BMA200; and MS5611-01BA are outputting their respective sensor data and to where.

Could someone with more technical knowledge point me in the right direction or provide me with the connections between the sensors and the rest of the system.

Cheers, 

Caelan

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  • I have determined what protocols are being used by the sensors on the PX4 and have determined which pins appear (to me) are outputting the sensor's data. All sensors use the SPI protocol, except the pressure sensor and the compass (which use I2C protocol).

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