# Better IMU - Different Hardware

**URL:** <https://discuss.bluerobotics.com/t/better-imu-different-hardware/9023>\
**Category:** ArduSub\
**Tags:** ardusub\
**Created:** [February 4, 2021, 7:28pm UTC](https://discuss.bluerobotics.com/t/better-imu-different-hardware/9023 "2021-02-04T19:28:29Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![tdoe](https://avatars.discourse-cdn.com/v4/letter/t/8e8cbc/32.png) [@tdoe](https://discuss.bluerobotics.com/u/tdoe)\
**Post date:** [February 4, 2021, 7:28pm UTC](https://discuss.bluerobotics.com/t/better-imu-different-hardware/9023/1 "2021-02-04T19:28:29Z")

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I know the subject of external IMUs for ardusub has been asked before [here](https://discuss.bluerobotics.com/t/external-imu-with-pixhawk/3575), but this seemed to be **pixhawk** specific.

My understanding is that there has been progress in ardupilot master to support external IMUs as of this [github issue](https://github.com/ArduPilot/ardupilot/issues/11479). But that sounds a bit too down the pipeline for what I’m looking for.

I did some preliminary research for different flight controllers and I didn’t find too many that [ArduSub said it supported](https://www.ardusub.com/introduction/hardware-options/required-hardware/autopilot.html). So, the question: Does anyone know of a flight controller that works with ArduSub that I could plug in and external IMU to?

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**Author:** ![StrikeLines](https://avatars.discourse-cdn.com/v4/letter/s/0ea827/32.png) [@StrikeLines](https://discuss.bluerobotics.com/u/StrikeLines)\
**Post date:** [February 8, 2021, 4:36pm UTC](https://discuss.bluerobotics.com/t/better-imu-different-hardware/9023/2 "2021-02-08T16:36:38Z")

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I am also interested in this question.

I’ve got a [high end IMU](https://www.xsens.com/products/mti-10-series) integrated with the LIDAR and multibeam on my USV. It would be nice to pull that high quality filtered heading and orientation data into Ardupilot. I mean, the data is already pinging around on the ships network as NMEA…

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**Author:** ![senceryazici](https://avatars.discourse-cdn.com/v4/letter/s/9dc877/32.png) [@senceryazici](https://discuss.bluerobotics.com/u/senceryazici)\
**Post date:** [March 1, 2021, 9:15pm UTC](https://discuss.bluerobotics.com/t/better-imu-different-hardware/9023/3 "2021-03-01T21:15:57Z")

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+1 here.

For autonomous vehicles, custom feedback for odometry is needed. We have high and IMU integrated with a DVL. But currently due to this fact we are using our own hardware with our own code, which is just a motor driver with some PID controller + sensor interfaces.

Looking forward for an update on this.