Overview
YARI I2C Magnetometer Sensors provide external compass sensing for Pixhawk-class flight controllers, including YARI V6X and YARI V6S. Choose from three sensor options: IST8310, MMC5983MA, and IIS2MDC.
These boards can be used with the GPS1, GPS2, and I2C ports on YARI flight controllers. Each sensor ships with a 4-pin JST-GH connector. For GPS1 or GPS2 use, a custom cable is required; the I2C port provides the direct external-I2C connection.
Refer to the YARI External Sensor Benchmarking guide for integration guidance and the full flight-test comparison results.
Sensor Options
All three available sensor options support I2C.
| Sensor | Magnetic range | Datasheet performance | Maximum ODR | Operating temperature |
|---|---|---|---|---|
| IST8310 | ±16 G (X/Y), ±25 G (Z) | Hysteresis: <0.1% FS; sensitivity drift: ±0.016%/°C; offset drift: 0.024 µT/°C | 200 Hz | -40 to 85 °C |
| MMC5983MA | ±8 G | Noise: 0.4 mG total RMS; claimed heading accuracy: ±0.5° | 1000 Hz | -40 to 85 °C |
| IIS2MDC | ±50 G | Noise: 3 mG RMS in high-resolution mode with low-pass filter | 150 Hz | -40 to 85 °C |
Datasheet figures use different operating conditions and definitions; use them as design references rather than a directly normalized performance ranking. Refer to the documentation for flight-test results and integration details.
Key Features
- Three external-magnetometer choices: IST8310, MMC5983MA, and IIS2MDC options for different integration requirements.
- YARI flight-controller support: Designed as external I2C sensors for YARI V6X and YARI V6S flight controllers.
- Flexible ports: Use the GPS1, GPS2, or I2C port; GPS-port installations require a custom cable.
- 4-pin JST-GH connection: Supplied with a 4-pin JST-GH connector for external-I2C integration.
- PX4 and ArduPilot drivers: Drivers are included, with firmware setup required when a standard image does not automatically start the selected external sensor.
Firmware and Setup
ArduPilot and PX4 include drivers for these sensors, but default flight-controller firmware may not automatically start every external I2C magnetometer. Refer to the External Sensor Benchmarking guide to manually start the required driver or build custom firmware. Contact YARI support for a custom firmware build with the selected sensor enabled.
Package Includes
- 1 × Selected YARI I2C Magnetometer Sensor
- 1 × 4-pin JST-GH connector
Documentation
https://docs.yarirobotics.com/technical-guides/external-sensor-benchmarking/
