After testing a lot of combinations of sensors, we settled on the following devices that we think offer the best results and the least amount of hassle:
- LSM303DLHC - a 3-axis accelerometer (up to +/-16g) and a 3-axis magnetometer (up to +/-8.1 gauss) on a single die
- L3GD20 - a 3-axis gyroscope (up to +/-2000 dps)
- BMP180 - A barometric pressure sensor (300..1100 hPa) that can be used to calculate altitude, with an additional on-board temperature sensor
The Adafruit 10DOF board and library reuses the existing Adafruit drivers for the LSM303DLHC (accelerometer and magnetometer), the L3GD20 (gyroscope) and the BMP180 (pressure/altitude sensor).
For information about these particular drivers, consult the following learning guides: