GY-91 MPU9250 + BMP280 10DOF IMU Sensor Module (Original Chips, with Magnetometer – 3-Axis Accelerometer, Gyroscope, Compass, Barometer)

#include <Wire.h>

void setup() {
  Wire.begin();
  Serial.begin(9600);
  Serial.println("I2C Scanner");
}

void loop() {
  byte error, address;
  int nDevices = 0;
  
  for(address = 1; address < 127; address++) {
    Wire.beginTransmission(address);
    error = Wire.endTransmission();
    
    if(error == 0) {
      Serial.print("I2C device found at address 0x");
      if(address < 16) Serial.print("0");
      Serial.println(address, HEX);
      nDevices++;
    }
  }
  
  if(nDevices == 0) Serial.println("No I2C devices found");
  delay(5000);
}

/*
  GY-91 Original Chip – Complete 10-DOF Read Example
  Gyroscope + Accelerometer + Magnetometer + Barometer
*/

#include <Wire.h>
#include <MPU9250.h>
#include <Adafruit_BMP280.h>

MPU9250 mpu;
Adafruit_BMP280 bmp;

void setup() {
  Serial.begin(115200);
  Wire.begin();
  
  // Initialize MPU9250 (gyro + accel + magnetometer)
  if (!mpu.setup(0x68)) {
    Serial.println("MPU9250 not found!");
    while (1);
  }
  
  // Configure ranges
  mpu.setGyroRange(2000);      // ±2000 dps
  mpu.setAccelRange(16);       // ±16g
  
  // Initialize BMP280
  if (!bmp.begin(0x76)) {
    Serial.println("BMP280 not found!");
    while (1);
  }
  
  Serial.println("GY-91 Original Chip Ready (Full 10-DOF)");
  Serial.println("-----------------------------------------");
}

void loop() {
  if (mpu.update()) {
    // Accelerometer (g-force)
    float ax = mpu.getAccX();
    float ay = mpu.getAccY();
    float az = mpu.getAccZ();
    
    // Gyroscope (degrees per second)
    float gx = mpu.getGyroX();
    float gy = mpu.getGyroY();
    float gz = mpu.getGyroZ();
    
    // Magnetometer (microtesla) – Fully functional
    float mx = mpu.getMagX();
    float my = mpu.getMagY();
    float mz = mpu.getMagZ();
    
    // Calculate heading (0-360° from magnetic north)
    float heading = atan2(my, mx) * 180 / PI;
    if (heading < 0) heading += 360;
    
    // BMP280 data
    float temperature = bmp.readTemperature();
    float pressure = bmp.readPressure();
    float altitude = bmp.readAltitude(1013.25); // Sea level pressure in hPa
    
    // Calculate tilt angles from accelerometer (pitch & roll)
    float pitch = atan2(-ax, sqrt(ay * ay + az * az)) * 180 / PI;
    float roll = atan2(ay, az) * 180 / PI;
    
    // Display results
    Serial.print("Accel (g): ");
    Serial.print(ax); Serial.print(", ");
    Serial.print(ay); Serial.print(", ");
    Serial.println(az);
    
    Serial.print("Gyro (°/s): ");
    Serial.print(gx); Serial.print(", ");
    Serial.print(gy); Serial.print(", ");
    Serial.println(gz);
    
    Serial.print("Mag (µT): ");
    Serial.print(mx); Serial.print(", ");
    Serial.print(my); Serial.print(", ");
    Serial.println(mz);
    
    Serial.print("Heading: ");
    Serial.print(heading);
    Serial.println("°");
    
    Serial.print("Pitch: ");
    Serial.print(pitch);
    Serial.print("°, Roll: ");
    Serial.println(roll);
    
    Serial.print("Temp: ");
    Serial.print(temperature);
    Serial.println(" °C");
    
    Serial.print("Pressure: ");
    Serial.print(pressure / 100.0);
    Serial.println(" hPa");
    
    Serial.print("Altitude: ");
    Serial.print(altitude);
    Serial.println(" m");
    
    Serial.println("-----------------------------------------");
  }
  
  delay(100);
}

#include <MadgwickAHRS.h>

Madgwick filter;
float roll, pitch, yaw;

void setup() {
  // ... initialization code ...
  filter.begin(100); // 100Hz sample rate
}

void loop() {
  if (mpu.update()) {
    // Update filter with sensor data (gyro in rad/s, accel in g, mag in µT)
    filter.update(gx * PI/180, gy * PI/180, gz * PI/180, 
                  ax, ay, az, 
                  mx, my, mz);
    
    roll = filter.getRoll();
    pitch = filter.getPitch();
    yaw = filter.getYaw();
    
    Serial.print("Yaw: ");
    Serial.print(yaw);
    Serial.print("°, Pitch: ");
    Serial.print(pitch);
    Serial.print("°, Roll: ");
    Serial.println(roll);
  }
}