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    Figure 1 MPU-6050 device package

    Figure 1 MPU-6050 device package

    Figure 2 MPU-6050 schematic symbol

    Figure 2 MPU-6050 schematic symbol

    What is MPU 6050?

    MPU 6050 contains a 3-axis gyroscope as well as a 3-axis accelerometer which allows measurement of both the parameters independently around the same axes. Thus, it eliminates the issue regarding cross-axis errors using individual sensors. In this work, MPU 6050 IC is used to help in balancing the flight of the quadcopter and maintain its flight dynamics.

    Pin Configuration

    1 RESV Reserved. Connect to VDDIO.
    2-6 NC Not internally connected. May be used for PCB trace routing.
    7 AUX_CL I2C Master serial clock, for connecting to external sensors
    8 VDDIO Digital I/O supply voltage
    9 AD0 / SDO I2C Slave Address LSB (AD0); SPI serial data output (SDO)
    10 REGOUT 10 REGOUT Regulator filter capacitor connection.
    11 FSYNC Frame synchronization digital input. Connect to GND if unused.
    12 INT Interrupt digital output (totem pole or open-drain)
    13 VDD Power supply voltage and Digital I/O supply voltage.
    14-17 NC Not internally connected. May be used for PCB trace routing.
    18 GND Power supply ground
    19 RESV Reserved. Do not connect.
    20 RESV Reserved. Connect to GND
    21 AUX_DA I2C master serial data, for connecting to external sensors.
    22 nCS Chip select (SPI mode only)
    23 SCL / SCLK I2C serial clock (SCL); SPI serial clock (SCLK)
    24 SDA / SDI I2C serial data (SDA); SPI serial data input (SDI)


    • Gyroscope
    • Digital-output X-, Y-, and Z-Axis angular rate sensors
    • Digitally-programmable low-pass filter
    • Sleep mode current: 8µA
    • Gyroscope operating current: 3.2Ma
    • Self-test
    • Accelerometer
    • Digital-output triple-axis accelerometer with a programmable full-scale range of ±2g, ±4g, ±8g and ±16g
    • User-programmable interrupts
    • Sleep mode current: 8µA
    • Accelerometer normal operating current: 450µA
    • Self-test
    • Wake-on-motion interrupt for low power operation of applications processor


    • Handset and portable gaming
    • Motion-based game controllers
    • Wearable sensors for health
    • fitness and sports
    • 3D remote controls for Internet connected DTVs and set top boxes, 3D mice


    If you are looking for an alternative of MPU-6050, here are the list

    • BMI160
    • ICM-20608-G
    • MPU-6500
    • BHI160B
    • MPU-6000
    • ASM330LXHTR
    • MAX21105ELE+T
    • MAX21105ELE+

    WHERE TO USE MPU-6050?

    MPU 6050 are used in self-balancing robots, UAVs, smartphones, and more. Motion sensor MPU-6050 help us to get the position of an object attached to the sensor in three-dimensional space. These values are in terms of angular positions of the subjected object.  All devices which required orientation information like smartphones, wearable gadgets and modern game consoles uses MPU-6050.

     How MPU-6050 work?

    Figure 3 Arduino and MPU-6050

    Figure 3 Arduino and MPU-6050

    To get yaw, pitch, and roll values from MPU-6050, connected it with Arduino as shown in Fig.3.

    The pin connections are as follow,


    VCC 3.3 V
    SCL A5
    SDA A4
    INT PD2

    Arduino required MPU-6050 library to communicate with MPU-6050 motion tracking device. Download the library along with the examples from link given below,


    To add library of MPU-6050 copy folder named “MPU6050” to Arduino’s “library” folder. Open the file MPU6050_DMP6 in Arduino IDE from File->Examples->MPU6050-> MPU6050_DMP6. Load the program in Arduino and open serial window with baud rate of 115200 to run the test program of MPU-6050.

    2D VIEW OF MPU-6050

    Figure 4 2-D VIEW OF MPU-6050

    Figure 4 2-D VIEW OF MPU-6050


    A 0.85 0.9 0.95
    A1 0 0.02 0.05
    b 0.18 0.25 0.3
    c 0.2 REF
    D 3.9 4 4.1
    D2 2.65 2.7 2.75
    E 3.9 4 4.1
    E2 2.55 2.6 2.65
    e 0.5
    f(e-b) 0.25
    K 0.25 0.3 0.35
    L 0.3 0.35 0.4
    L1 0.35 0.4 0.45
    s 0.05 0.15

    MPU-6050 Related Products Prices

    PartsMfr.DescriptionStockPricesBuy Now


    TDK InvenSenseGYRO/ACCELEROMETER 6AXIS 24QFN15230$1.364 Lowest
    MPU-6000TDK InvenSense28007$2.274 Lowest
    MPU-6500TDK InvenSenseIMU ACCEL/GYRO 3-AXIS I2C 24QFN5947$1.585 Lowest


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