GY-86 10DOF BMP085 Module MS5611 HMC5883L MPU6050 Module MWC Flight Control Sensor Module

GY-86 Module          →    Arduino Uno
─────────────────────────────────────────
VCC                   →    5V
GND                   →    GND
SCL                   →    A5 (SCL)
SDA                   →    A4 (SDA)
AD0 (optional)        →    GND (default address 0x68)
INT (optional)        →    Leave unconnected

// Enable I2C bypass mode to access magnetometer and barometer
mpu.setI2CMasterModeEnabled(false);  // Disable I2C master mode
mpu.setI2CBypassEnabled(true);       // Enable I2C bypass mode
mpu.setSleepEnabled(false);          // Wake up the sensor

#include <Wire.h>
#include "I2Cdev.h"
#include "MPU6050.h"
#include "HMC5883L.h"

MPU6050 mpu;
HMC5883L mag;

void setup() {
  Wire.begin();
  Serial.begin(115200);
  
  // Initialize MPU6050
  mpu.initialize();
  
  // CRITICAL: Enable I2C bypass mode to access HMC5883L and MS5611
  mpu.setI2CMasterModeEnabled(false);  // Disable I2C master mode
  mpu.setI2CBypassEnabled(true);       // Enable I2C bypass mode
  mpu.setSleepEnabled(false);          // Wake up the sensor
  
  // Now initialize the magnetometer
  mag.initialize();
  
  // Verify connections
  Serial.println(mpu.testConnection() ? "MPU6050 OK" : "MPU6050 ERROR");
  Serial.println(mag.testConnection() ? "HMC5883L OK" : "HMC5883L ERROR");
}

/*
  GY-86 10DOF IMU – Complete Sensor Reading Example
  Reads all three sensors: MPU6050 (gyro/accel), HMC5883L (magnetometer), MS5611 (barometer)
*/

#include <Wire.h>
#include "I2Cdev.h"
#include "MPU6050.h"
#include "HMC5883L.h"
#include "MS5611.h"

// Create sensor objects
MPU6050 mpu;
HMC5883L mag;
MS5611 baro;

// Variables for sensor data
int16_t ax, ay, az;     // Accelerometer raw values
int16_t gx, gy, gz;     // Gyroscope raw values
int16_t mx, my, mz;     // Magnetometer raw values
float pressure, temperature, altitude;

void setup() {
  Wire.begin();
  Serial.begin(115200);
  
  // Initialize MPU6050
  mpu.initialize();
  
  // CRITICAL: Enable I2C bypass mode to access HMC5883L and MS5611
  mpu.setI2CMasterModeEnabled(false);
  mpu.setI2CBypassEnabled(true);
  mpu.setSleepEnabled(false);
  
  // Initialize magnetometer
  mag.initialize();
  
  // Initialize barometer
  baro.init();
  baro.reset();
  delay(100);
  baro.readPROM();  // Read factory calibration coefficients
  
  Serial.println("GY-86 Sensors Ready");
  Serial.println("-----------------------------");
}

void loop() {
  // Read MPU6050 (gyroscope + accelerometer)
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  
  // Read HMC5883L (magnetometer)
  mag.getHeading(&mx, &my, &mz);
  
  // Read MS5611 (barometer)
  baro.startPressureConversion(MS5611_OSR_4096);
  delay(10);
  pressure = baro.getPressure(MS5611_OSR_4096);
  
  baro.startTemperatureConversion(MS5611_OSR_4096);
  delay(10);
  temperature = baro.getTemperature(MS5611_OSR_4096);
  
  // Calculate altitude using sea level pressure (1013.25 hPa default)
  altitude = baro.getAltitude(pressure, 1013.25);
  
  // Display results
  Serial.print("Accel (g): ");
  Serial.print(ax / 16384.0); Serial.print(", ");
  Serial.print(ay / 16384.0); Serial.print(", ");
  Serial.println(az / 16384.0);
  
  Serial.print("Gyro (°/s): ");
  Serial.print(gx / 131.0); Serial.print(", ");
  Serial.print(gy / 131.0); Serial.print(", ");
  Serial.println(gz / 131.0);
  
  // Calculate heading in degrees (0° = North)
  float heading = atan2(my, mx);
  if (heading < 0) heading += 2 * M_PI;
  heading = heading * 180 / M_PI;
  Serial.print("Heading: ");
  Serial.println(heading);
  
  Serial.print("Temperature: ");
  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(500);
}