Technical Specifications

The navX2-MXP circuit board and official firmware provide inertial and magnetic measurements, with a range, accuracy and update rate as described on this page (bolded items indicate best-in-class performance among IMUs commonly used in FRC as of September 2020).

Note that certain performance specifications are only valid after Startup Gyroscope/Accelerometer Calibration period, during which time the navX2-MXP circuit board must be held still.

Additional details can be found in the navX2-MXP datasheet.

Electrical Specifications
Voltage: 5V DC
Current Consumption: 60 millamps
Communications Interfaces: USB, TTL UART, SPI, I2C
Power Connector: USB and/or 5VDC/GND Pins on MXP Connector
Power Source Fail-over: Automatic switch between USB/MXP Power within 100us
USB Connector: USB Mini-B
Motion Processing Performance Specifications
Max. Startup Calibration Period: 5 seconds (assuming sensor is still during this time)
Max. Rotation in any axis before Saturation: +/- 4000 degrees/sec
Max. Acceleration in any axis before Saturation: +/- 16 G
Kalman Filter Propagation Rate 416 Hz
Kalman Filter Update Rate 416 Hz
Yaw angle accuracy (during motion): ~0.5 degree of drift/minute
Yaw angle accuracy (when still): ~0.2 degree of drift/hour (2 degree/Day)
Pitch/Roll angle accuracy 0.5 degree
SPI/I2C/USB supported Update Rate: 4-200 Hz
TTL UART supported Update Rate: 4-80 Hz
Magnetometer Raw Update Rate: 4 Hz
Magnetometer Angular Accuracy: 2 degrees
Gyroscope Sensors Detailed Specifications (ISM330DHCX)
Maximum Full-scale Range +/- 4000 degrees/sec
Internal Update Rate 6600 Hz
Typical Noise Density .005 degrees/sec/√hz
Typical Angular Random Walk [ARW] 0.21 degrees/√hour
Typical Allan Variance 12.6 degrees/hour
Typical Bias Stability 3 degrees/hour
Typical Bias Change vs. Temperature .005 degrees/sec/°C
Typical Cross-axis sensitivity 1 %
Typical Rate Sensitivity Change vs. Temperature .007 %/°C
Typical Nonlinearity (Best-fit straight Line) .042 % of Full-scale
Typical Zero-Rate Offset 1 degree/second
Accelerometer Sensors Detailed Specifications (ISM330DHCX)
Maximum Full-scale Range 16 G
Internal Update Rate 6600 Hz
Typical Noise Density 60 uG/√Hz
Typical Cross-axis sensitivity 0.5 %
Typical Bias Change vs. Temperature 0.1 mG/°C
Typical Sensitivity Change vs. Temperature .005 %/°C
Typical Output Noise [RMS] 1.897 mG
Typical Nonlinearity (Best-fit Straight Line) .46 %
Shock Survivability 20,000 G
Magnetometer Sensors Detailed Specifications (LIS2MDL)
Maximum Full-scale Range 50 Gauss
Internal Update Rate 100 Hz
Sensitivity 1.5 mGauss/LSB
Typical Noise Floor [RMS] 3 mGauss
Typical Sensitivity Change vs. Temperature 0.03 %/°C
Typical Bias Change vs. Temperature .3 mG/°C