External IMU Wiring

Wiring of external IMU might differ. So far, I have tested both LSM6DS3 and BMI160. BMI160 offered less noise. This is based on the Flipsky 75100 so might differ for other ESCs.
First of all - it may be hard to distinguish between the two - they might look very similar - LSM6DS3 at the top, BMI 160 at the bottom.

For LSM6DS3 MII wiring is:
IMU GND - ESC GND
IMU 3.3 - ESC 3.3
IMU SCL - ESC SCL/TX
IMU SDA - ESC SDA/RX

For BMI 160 wiring is:
IMU GND - ESC GND
IMU VIN - ESC 3.3
IMU SCL - ESC SCL/TX
IMU SDA - ESC SDA/RX
IMU SAO - IMU GND

Some additional info: BMI160 module for DIY balanced board DIY onewheel with VESC | Spintend

External IMU setup is covered nicely in IMU (gyro) Configuration Guide

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Couldn’t include more than one picture, so adding here:
LSM wiring

BMI wiring

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