GY-87 10-DOF module (MPU6050 + compass + BMP180) with ESP32

Supply 3.3-5 V Bus I2C I2C address 0x68 / 0x77 / 0x1E / 0x0D Measures acceleration, rotation, magnetic field, pressure, temperature

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
VCC_IN	Power	3V3	Goes through the on-board regulator
3.3V	Not wired to the ESP32	—	Regulator output. Leave unconnected when you power VCC_IN
GND	Ground	GND
SCL	I2C clock (SCL)	D22
SDA	I2C data (SDA)	D21
FSYNC	Not wired to the ESP32	—	MPU6050 frame sync. Leave unconnected
INTA	Interrupt	D35	MPU6050 interrupt, optional
DRDY	Interrupt	VP	Compass data ready, optional

Suggested wiring for the 30-pin ESP32 DevKit, avoiding flash, input-only and strapping pins. BoardPilot checks it for you as you wire.

Starter code (Arduino)

#include <Wire.h>

void setup() {
  Serial.begin(115200);
  Wire.begin(21, 22);  // SDA = GPIO 21, SCL = GPIO 22
  Wire.beginTransmission(0x68);
  bool found = Wire.endTransmission() == 0;
  Serial.println(found ? "GY-87 10-DOF module (MPU6050 + compass + BMP180) found at 0x68" : "Not found: check power, GND and SDA/SCL");
}

void loop() {}

Sources

InvenSense MPU-6050 Register Map, I2C 0x68; WHO_AM_I 0x75 reads 0x68
Bosch BMP180 datasheet, I2C address 0x77
Honeywell HMC5883L datasheet, I2C 0x1E, visible only after MPU6050 bypass is enabled. Newer boards carry a QMC5883L (0x0D)

Try it in 3D in BoardPilot

BoardPilot Part data (JSON)

Part data: CC BY 4.0, free to reuse with credit to BoardPilot.

GY-87 10-DOF module (MPU6050 + compass + BMP180) with ESP32

Pins and ESP32 wiring

Starter code (Arduino)

Sources

Try it in 3D in BoardPilot

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