Zero anywhere
Make the current attitude the reference, or only the heading. Zeroing works on the quaternion, so angles never jump at ±180°.
Sensors
Tercio IMU
Orientation on the CAN bus
A Bosch BNO055 fuses accelerometer, gyroscope and magnetometer 100 times a second. The Tercio IMU streams the result as a quaternion and as roll, pitch and yaw on the same bus as your motors, and Tercio Control shows it live.
Launch price soon
Tercio IMU goes on sale 1 December 2026. We’ll email you the moment it does.
- Open-source firmware
- Free browser control panel
- Python and C++ libraries
- Shipping calculated at checkout
Calibrate once
Save the sensor’s calibration to flash. It is restored at every power-up, so the IMU starts calibrated.
Happy next to motors
The default fusion mode ignores the magnetometer, so stepper magnets and steel cannot pull the heading. NDOF mode adds an absolute heading where the field is clean.
Same bus, same tools
Protocol v2 like the S1: it appears in Tercio Control by itself, and the Python and Arduino libraries read it in a line.
Specifications
The details.
In the box
- Tercio IMU module
Sensing
- Sensor
- Bosch BNO055: accelerometer, gyroscope, magnetometer, on-chip fusion
- Fusion rate
- 100 Hz
- Fusion modes
- IMU (no magnetometer, relative heading) or NDOF (absolute heading)
- Mounting
- Axis mapping for the eight sensor placements
Data
- Attitude
- Quaternion; roll, pitch and yaw, relative to your zero
- Motion
- Acceleration (with gravity) and angular rate, 3 axes each
- Also
- Calibration status per sensor, board temperature
- Telemetry
- Up to 100 Hz, 50 Hz by default
Bus
- Bus
- CAN-FD, 500 kbit/s arbitration and 2.5 Mbit/s data
- Protocol
- Tercio protocol v2, shared with the S1
- Node ID
- 1–127, 100 by default
Hardware
- Processor
- STM32G431, Arm Cortex-M4F at 170 MHz
- Board
- 25 × 51 mm
- Connectors
- JST XH 3-pin and a 2-pin screw terminal at each end
Software
- Works with
- Tercio Control (Chrome, Edge), Python and Arduino C++ libraries
- Firmware
- Open source, updatable over SWD
