The Yocto-3D-V2 is a USB 3-axis accelerometer, gyroscope and compass. If you need to detect an orientation, a movement or a magnetic field, the Yocto-3D-V2 is what you need. This USB device provides a 3D accelerometer, a 3D magnetometer, a 3D gyroscope to measure angular velocity, a 2D inclinometer (tilt sensor), a tilt compensated compass and an inertial estimation of the orientation based on the 3D gyroscope.

All maths required to use this kind of sensors are handled directly by the device. You can mount it in any position, as the reference frame can be configured and taken into account internally by the Yocto-3D-V2. The device automatically computes tilt angles and the estimated device attitude (using a quaternion, with an optional conversion to Tait-Bryan angles in the API). No additional computation is required in the application to determine the device orientation.

You can move away the sensor part as required, in particular if you want to avoid electromagnetic interferences from other devices.

Caution: if you intend to use the compass function, you should not use classical Yoctopuce enclosures, as they include steel screws and magnets. Instead, use the YoctoBox-3D-Black/Transp enclosures, which have screws and bolts in aluminum and brass and which do no include magnets.

Contrarily to the Yocto-3D, this new version can perform auto-calibration to compensate for hard-iron interference caused by nearby sources of magnetic fields that move along with the sensor.

To Pokemon GO users: Yoctopuce products work only with applications specifically designed to use them. On an Android phone, the Yocto-3D-V2 does not appear as a generic embedded gyroscope. If your Android phone doesn't feature any embedded gyroscope, the Yocto-3D-V2 can't help you to play with Pokemon GO.

This device can be connected directly to an Ethernet network using a YoctoHub-Ethernet, to a WiFi network using a YoctoHub-Wireless-n and to a GSM network using a YoctoHub-GSM.

Yocto-3D-V2 Yocto-3D-V2 Yocto-3D-V2

USB cables and enclosures to be ordered separately.

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Product ID:Y3DMK002
Product name:Yocto-3D-V2
USB connector:micro-B
Gyroscopic attitude estimation:100Hz
Measuring range (Accel.):16g
Measuring range (Gyro):2000░/s
Measuring range (Magn.):13gauss
Sensitivity (Accel.):0.001g
Sensitivity (Gyro):0.1░/s
Sensitivity (Magn.):0.01gauss
Protection class, according to IEC 61140:class III
Normal operating temperature:5...40░C
Extended operating temperature1:-30...85░C
Supported Operating Systems:Windows (PC + IoT), Linux (Intel + ARM), macOS, Android
Drivers:Driverless, no driver needed
API / SDK / Libraries:C++ Obj-C C# VB.NET UWP Delphi Python Java Android LabVIEW
API / SDK / Libraries (TCP only):Javascript Node.js PHP
RoHS compliance:RoHS III (2011/65/UE+2015/863)
Suggested enclosure:YoctoBox-3D-Black
Harmonized tariff code:8542.3190
Cables and enclosures:available separately
Made in:Switzerland

1 The extended temperature range is defined based on components specifications and has been tested during a limited duration (1h). When using the device in harsh environments for a long period of time, we strongly advise to run extensive tests before going to production.

Accessories and related products

YoctoBox-3D-Black, Enclosure for Yocto-3D, black base.USB-A-MicroB-50, USB 2.0 type A to Micro-B data cable, 50 cm

Related articles and application examples


User manual (HTML)
User manual (PDF)
Product brief
3D file (STEP)
RoHS certificate
Most recent firmware37621 (10/11/2019)
Library for Javascript42060 (10/15/2020)
Library for PHP42060 (10/15/2020)
Library for Objective C42060 (10/15/2020)
Library for C++42060 (10/15/2020)
Library for C#42060 (10/15/2020)
Library for VisualBasic .NET42060 (10/15/2020)
Library for Delphi42060 (10/15/2020)
Library for Python42060 (10/15/2020)
Library for Java42060 (10/15/2020)
Library for Android42060 (10/15/2020)
Library for LabVIEW42060 (10/15/2020)
Library for Command line35652 (06/05/2019)
Virtual Hub for Windows42060 (10/15/2020)
Virtual Hub for Linux, Intel + ARM42060 (10/15/2020)
Virtual Hub for Mac-OS-X42060 (10/15/2020)

Add a comment 18 comments

1 - Arun R Friday,january 05,2018 16H08

To rotate 3D box as shown in virtualhub what parameters to take from 3D v2 tilt1 and 2, compass or quternion values?

2 - davek Wednesday,june 06,2018 13H12

What is the latency of this sensor?

3 - martinm (Yocto-Team)Friday,june 08,2018 6H56

About 10-20ms

4 - vm1 Tuesday,august 21,2018 21H07

What is the bias stability (or in-run bias stability) in degree/h ?

5 - mvuilleu (Yocto-Team)Friday,august 24,2018 14H48

@vm1: That parameter is inherited directly from the BNO055. You might find your answer here: https://electronics.stackexchange.com/questions/239749/bosch-bno055-gyroscope-bias-stability

6 - matanmilrad Wednesday,january 09,2019 14H27

What is the magnetometers heading accuracy in degrees?
I see the resolution is 0.1░ but no accuracy

7 - mvuilleu (Yocto-Team)Wednesday,january 09,2019 17H42

Magnetometer heading accuracy is highly dependent on the environment and on the calibration, so it would not make much sense to specify an accuracy. The BNO055 sensor does not actually specify a heading accuracy, so we cannot make one.

8 - udar Friday,march 15,2019 11H55

What is the sampling frequency for the sensors ?

9 - mvuilleu (Yocto-Team)Friday,march 15,2019 13H58

@udar: the attitude estimation is refreshed at 100Hz, but other sensors like the accelerometer are averaged at 7Hz for greater stability (MEMS accelerometer tends to be noisy). You can however change the "bandwidth" parameter if you prefer to have higher rate and lower stability

10 - mitchellh Sunday,june 30,2019 22H28

Can you provide more info about what was changed in firmware 35944? What problem was fixed?

11 - martinm (Yocto-Team)Monday,july 01,2019 8H58

@mitchellh: handling of compass bearing parameter has been fixed. Note that release notes for each firmware are available from the firmwares page: www.yoctopuce.com/EN/firmwares.php

12 - mitchellh Monday,july 01,2019 20H34

@martinm Thank you for your reply, I saw those release notes but was hoping for some extra detail. I have been using this device for nearly a year now and want to confirm the change in behavior before I update the firmware. Thanks.

13 - shiva Wednesday,february 05,2020 2H49

Object is unstable while using quaternion values for rotation . Can you please publish how to use quaternion values in unity. Even when when configuring in your website it's unstable through quaternion. We are not getting any rotation.

14 - mvuilleu (Yocto-Team)Wednesday,february 05,2020 18H13

@shiva: Did you implement the method explained in this article: https://www.yoctopuce.com/EN/article/how-to-correctly-use-a-yocto-3d-v2-in-unity ?

15 - shiva Wednesday,february 12,2020 11H38

@mvuilleu ya we had seen your article , but your using euler system where we face gimble lock problem. so how to diectly do transformation of object based on quaternion

16 - mtc Monday,june 22,2020 22H44

is it possible to get a acceleration compensated value from the tilt sensors?

17 - mvuilleu (Yocto-Team)Tuesday,june 23,2020 17H08

@mtc: can you explain what do you mean exactly? The tilt value returned by the Yocto-3D-V2 is the result of a fusion algorithm, so it is supposed to be as much as possible acceleration-compensated.

18 - mtc Tuesday,june 23,2020 20H30

@mvuilleu I move an object with wheels on a flat surface. Even if i move the object slow, the tilt sensor moves between 1-2 degress. If the tilt sensor is already compensated, and this is the best possible result, than it's ok.

Yoctopuce, get your stuff connected.