The MPU-6050 IMU combines a 3-axis MEMS accelerometer and 3-axis MEMS gyroscope in a single package. An on-chip Digital Motion Processor (DMP) can fuse both sensors to output quaternion orientation data.
| IC | MPU-6050 |
| Interface | I²C (400 kHz) / SPI |
| Accel range | ±2 / ±4 / ±8 / ±16 g |
| Gyro range | ±250 / ±500 / ±1000 / ±2000 °/s |
| ADC resolution | 16-bit |
| Supply voltage | 2.375 – 3.46 V (logic: 1.8–3.3 V) |
| DOF | 6 (accel + gyro) |
| DMP | Quaternion output capable |
Accelerometer MEMS cells measure capacitance changes between a proof mass and fixed electrodes — deflection under acceleration changes capacitance proportionally. Gyroscope cells use Coriolis effect on vibrating structures; rotation induces measurable deflection.
Gyroscope drift accumulates over time — requires periodic recalibration or sensor fusion with magnetometer. Accelerometer cannot distinguish gravity from linear acceleration. Vibration from motors introduces significant noise.