IMU600-V2 Setup Guide¶
Document Crosswalk and Differences
For IMU600-V2 / firmware 0.11.2 / GUI v1.6.1.
Part of the InertiaX core series, this searchable guide follows the IMU600-V2 User Manual v1.1 and Communication Protocol v1.1. The module combines three six-axis IMUs and a barometer, providing raw / fused inertial data, AHRS and Δθ / Δv through dual UARTs and SPI, with GPS PPS and external triggering.
Complete protocol chapters: 2. Data output (2.1–2.5) · 3. Status and statistics (3.1–3.4), with full formats and field definitions.
Quick Start¶
- Connect +5 V / GND and cross UART1 TX / RX with a 3.3 V USB-UART, following the pinout.
- Request the GUI from ethan@robotlab.com.tw, extract it and run SparkNavi_IMU600.exe. Select COM and 460800 bps.
- Keep upright and level for about one second. Check all three IMUs and fused data: az near −9.79 m/s², roll / pitch near 0°; yaw is relative.
- Choose rate/content in Parameters, Apply, check bandwidth and data, then select SAVE to retain the settings after power-off.
- For connection or baud issues, see Auto Detect / Boot Rescue in GUI operation. Use the chapters below for advanced integration.
Factory Defaults¶
| Item | Default |
|---|---|
| Power / Logic | +5 V ±5% / 3.3 V |
| UART1 | 460800 bps · 8N1 · ASCII · raw + fused + AHRS + BARO |
| UART2 | 460800 bps · binary · raw |
| RATE / BRATE | 50 Hz / 50 Hz |
| PPS / TRIG | 1 / 0 |
| SPI / SPICK | off / Mode 3 |
| FRD | +X Forward / +Y Right / +Z Down |
IMU output rates are 5 / 10 / 25 / 50 / 100 / 200 / 400 / 500 / 1000 Hz; barometer rates are 10 / 25 / 50 / 100 Hz. Check UART bandwidth before increasing rates. See the product page for performance.
Guide Chapters¶
| Chapter | Contents |
|---|---|
| Pinout, Power & Coordinates | IMU600-V2 24-pin J1, UART / SPI / PPS wiring, development board and FRD axes. |
| GUI, Recording & Calibration | GUI v1.6.1 connection, dashboard, saving, six-face calibration, fusion weights and logging. |
| Communication Protocol Overview | Protocol v1.1 online: data, commands, statistics, events, parsing and flight-controller integration. |
| 2. Data Output | Protocol sections 2.1–2.5: complete RAW, FUSED, BARO and AHRS ASCII formats, fields, flags and bandwidth. |
| 3. Status and Statistics | Protocol sections 3.1–3.4: SPNVSTAT, SPNVFUS, SPNVSYS and SPNVHB formats, fields and interpretation. |
| ASCII Data, Status & Commands | SPNV framing, units, status / flags, configuration commands and persistence. |
| Binary Packets & Bandwidth | D6 44 frames, CRC-16, Python struct layouts and UART bandwidth. |
| Statistics, Boot Information & Events | Full STAT / FUS / SYS fields, sensor flags and boot / error messages. |
| Host Parsing & Integration Examples | ASCII parsing, binary struct explanation, output order, baud error and host tools. |
| UART2, GPS PPS & External Trigger | Dual UART outputs, PPS alignment, lock states and externally triggered integration. |
| SPI Output & ArduPilot Integration | SPI 128-byte packets, Blue2 IMU600 driver, 1000 Hz, EKF3 and calibration checks. |
| Reset, Firmware Update & Troubleshooting | MCLR circuits, GUI .spfw update and recovery, diagnostics and support information. |
| User Manual v1.1 Source Pages | Original figures, tables, text and page numbers for online verification. |
| Protocol v1.1 Source Pages | Original figures, tables, text and page numbers for online verification. |
Downloads & GUI Request¶
| Document | Version / Language | Link |
|---|---|---|
| Datasheet | Preliminary Rev. 1.1 · 中文 / English | |
| User Manual (with Revision History) | v1.1 · 繁體中文 | |
| Communication Protocol | v1.1 · 繁體中文 | |
| GUI | v1.6.1 · By request | ethan@robotlab.com.tw |
Source document：IMU600-V2 User Manual v1.1 · PDF pages 1–40