Data Sheet

Migration from the CMPS11
Every effort has been made to try and make the CMPS12 as compatible with its CMPS11 predecessor.
Electronically it has been designed to drop in with pin compatibility. In I2C mode all data is in the
same locations as it was found on the CMPS11 with some extra features in new registers, in serial
mode the original command set is implemented and added to for some extra features. There are
however a few differences:
Raw sensor data is now from a BNO055 sensor
Temperature is returned in °C
Pitch and roll values from the sensor are automatically filtered, so there is no longer pitch and roll with
no Kalman filter values. This affects registers 26 and 27 in I2C and commands 0x16 and 0x17 in serial
mode.
Calibration is fundamentally different, the CMPS12 is continually auto calibrating, there is commands
to save the current calibration profile so it can be automatically restored if power is lost. There is also a
command sequence to delete the profile if required.