# LSM6DSV

LSM6DSV is a 6-axis IMU with a triaxial accelerometer and triaxial gyroscope. It includes ST's low-power sensor-fusion path and
can provide a 6-axis game rotation vector, gravity vector, and gyroscope bias, but without a magnetometer it does not provide a
magnetically referenced 9-axis absolute heading on its own.

 * Vendor documentation: [LSM6DSV datasheet](https://www.st.com/resource/en/datasheet/lsm6dsv.pdf)

## Overview

| Spec | Value |
| --- | --- |
| Axes | 6 |
| Physical sensors | Accelerometer, gyroscope |
| Magnetometer | No |
| Sensor-side derived outputs | Game rotation vector, gravity vector, gyroscope bias |
| Absolute heading on-sensor | No |

## Orientation

Use the drawing below as the vendor-axis reference for LSM6DSV acceleration and angular-rate directions.

## Native silicon characteristics

| Signal | Full-scale options | Sensitivity / quantization | Noise density | Native ODR |
| --- | --- | --- | --- | --- |
| Accelerometer | +-2 / +-4 / +-8 / +-16 g | 0.061 / 0.122 / 0.244 / 0.488 mg/LSB | 60 ug/sqrt(Hz) typ in high-performance mode |
up to 7680 Hz |
| Gyroscope | +-125 / +-250 / +-500 / +-1000 / +-2000 / +-4000 dps | 4.375 / 8.75 / 17.5 / 35 / 70 / 140 mdps/LSB | 2.8
mdps/sqrt(Hz) typ | up to 7680 Hz |

## DepthAI-exposed runtime behavior

Luxonis treats runtime behavior for LSM6DSV as platform-specific. Do not assume the silicon max ODR is equal to the host stream
rate.

| Spec | Value |
| --- | --- |
| Validated runtime values | Document separately from silicon-native ODR |
| Public max exposed report rates | Use product-specific validation data |
| Rate rounding behavior | Validate per product and software version |

## Characterized noise parameters

| Axis | Accel noise density | Accel random walk | Accel bias stability | Gyro noise density | Gyro random walk | Gyro bias
stability |
| --- | --- | --- | --- | --- | --- | --- |
| X | 0.0265581027090947 | 0.000010093945255527 | 0.00908348979687702 | 0.16962473704429 | 0.0415246279899921 | 1.9938014488291 |
| Y | 0.0248946412822367 | 0.0000102126378842322 | 0.0115752711877888 | 0.162065795356986 | 0.0553796640289008 | 1.94429340491937
|
| Z | 0.0325070710518501 | 0.000020894079359336 | 0.0154330840172653 | 0.141726916752152 | 0.0522673667125027 | 2.20512465921074 |