Pololu 1256 - CHR-UM6-LT Orientation Sensor

Overview

The UM6-LT ultra-miniature orientation sensor—also known as an Attitude and Heading Reference System, or AHRS—from CH Robotics is an OEM version of their UM6 orientation sensor. Like the UM6, it uses rate gyros, accelerometers, magnetic sensors, and an on-board 32-bit ARM Cortex processor to estimate the absolute sensor orientation 1000 times per second. Sensor orientation is reported using either quaternions or Euler angles over a TTL serial interface at user-customizable rates. A USB-to-serial adapter can be used to connect the IMU to a computer running the free CH Robotics Serial Interface PC application, which allows for easy data visualization, board calibration, and UM6-LT settings configuration.

The UM6-LT is functionally identical to the UM6 (it uses the same firmware and works with the same PC software). The only difference is that the UM6-LT lacks the UM6’s enclosure and 4-pin connector. Please see the UM6 product page or UM6/UM6-LT datasheet (552k pdf) for board specifications and usage information.

The CHR-UM6-LT sensors in our current stock do not have the latest firmware version, which is required to support GPS communication; however, they can be reprogrammed with the UM2B firmware using the CH Robotics Serial Interface or with this process described on the CH Robotics forum.

Product Comparison

We carry several inertial measurement and orientation sensors. The table below compares their capabilities:

Product Name	Sensors			Estimation				Other
	Gyros (3x)	Accels (3x)	Mag (3x)	Roll	Pitch	Yaw	Quaternion	Enclosure
Pololu MinIMU-9 v2
CHR-UM6-LT Orientation Sensor
CHR-UM6 Orientation Sensor

The UM6-LT is a pin-compatible replacement for the CHR-6dm AHRS sensor, which has been discontinued, so it can be physically swapped directly into systems that use the CHR-6dm. However, the UM6-LT uses the UM6 communication protocol, not the CHR-6dm protocol, so such a swap will require software modification.

People often buy this product together with:

Pololu USB-to-Serial Adapter

66-Channel LS20031 GPS Receiver Module

MinIMU-9 Gyro, Accelerometer, and Compass (L3G4200D and LSM303DLM Carrier)