Choosing an IMU: MPU-6050, BNO085 or ICM-42688-P

Three IMUs sit on our bench more than any others: the MPU-6050 because it is everywhere, the BNO085 because it does the sensor fusion for you, and the ICM-42688-P because its noise is low enough for flight controllers.

What we compared

Noise density at rest, drift over an hour at room temperature, and how much code it takes to get a stable orientation.

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