SMAKN&reg; AHRS 9DOF Nine Axis GY-951 Inertial Navigation Arduino ITG3205 HMC5883L Module Nine-axis modules (three-axis gyroscope + triaxial accelerometer + three-axis magnetic field) Model: GY-951 Power supply :3-5v Using the chip: Atmega328 + ITG3205 + the ADXL345 + HMC5883L Means of communication: serial communication protocol