Out of Stock

IMU and Digital Compass (H0BR4x)


3-axis Inertial Measurement Unit (IMU) + 3-axis Digital Compass

Stage: Production

Out of stock


H0BR4x is a 3-axis inertial measurement unit (IMU) combined with a 3-axis digital compass module based on STM32G0 MCU, LSM6DS3 IMU and LSM303AGR compass.

  • 2 x 3-axis accelerometers for inertial force and gravity vector measurements.
  • 3-axis gyroscope for angular rate measurements.
  • 3-axis magnetometer for measuring magnetic inclination and orientation.
  • Digital temperature sensor to provide temperature measurements and calibrate gyroscope temperature drift.
  • Use H0BR4x as an integrated IMU for attitude estimation in drones and other robotic platforms.
  • Use as inertial-/gesture-based input device.
  • Supports sample readings of all sensors to an internal SRAM buffer, the CLI output or to a port in a remote module.
  • Supports streaming of any sensor data to an internal SRAM buffer, the CLI output or to a port in a remote module. Streaming duration and period (sampling frequency) can be adjusted.
  • Connect to external hardware or combine with other Hexabitz modules!



  • ST LSM6DS3 iNEMO inertial module (3D accelerometer and 3D gyroscope):
    • ±2/±4/±8/±16 g accelerometer full scale.
    • ±125/±250/±500/±1000/±2000 dps gyroscope full scale.
    • Up to 6 kHz ODR.
    • Embedded temperature sensor.
  • ST LSM303AGR eCompass module (3D accelerometer and 3D magnetometer):
    • ±50 gauss magnetic range.
    • ±2/±4/±8/±16 g accelerometer full scale.
    • Up to 150 Hz ODR.


  • STM32G0B1CEU6N 32-bit ARM Cortex-M0 MCU.
  • 8MHz external oscillator.
  • Six array ports and six power ports (+3.3V and GND).
  • Access to 6xUART, 2xI2C, SWD, BOOT0, RESET.

Physical Properties

  • Shape: Hexagon
  • Size: 30 mm short diagonal, 17.32 mm side
  • Area: 7.8 cm^2
  • Weight: 3 g
  • Soldermask Color: Dark green
  • Surface Finish: ENIG (gold) or HASL-LF (tin)


Hardware Release Notes


  • Initial hardware release.


  • Changed the STM32F091CBU6 MCU to STM32G0B1CEU6N.


Please visit this product projects on Hackster.io network.



Quickstart Guide

Download a PDF version here.


Frequently Asked Questions

Have more questions? Please check our main FAQ page and feel free to contact us for any unanswered questions.


Download a PDF version here.


  • Schematics (PDF)
  • Hardware Design Files (Circuit Maker, EAGLE)
  • Source Code (GitHub). Download a pre-compiled firmware HEX file here.
  • Documentation / Factsheet (PDF)
  • Projects & Examples: Please check our account on Hackster.io for demo projects and examples.