# Sensors

Sensors are available on the mainboard and the vision mezzanine. The following table lists the sensor details and identifies the appropriate DIP switch for each sensor:

| Placement | Sensor part | Sensor type | DIP switch | Name | Details | Default |
| --- | --- | --- | --- | --- | --- | --- |
| Mainboard | ICM42688 | Inertial Measurement Unit (IMU) sensor: Accelerometer and Gyroscope | DIP\_SW\_0 (pin 5) | SENSOR\_IM U\_TOGGLE | <ul class="simple"><br><li><p>ON: on-board IMU disabled</p></li><br><li><p>OFF: on-board IMU enabled</p></li><br></ul> | OFF |
| Vision mezzanine | ICM42688 | IMU sensor - Accelerometer and Gyroscope | DIP1 (pin 1) | SENSOR\_S PI\_PASSTHRU | <ul class="simple"><br><li><p>ON: Snapdragon sensor core (SSC) sensor SPI routed to IMU_SPI_SELECT switch</p></li><br><li><p>OFF: IMU sensor SPI passthrough</p></li><br></ul> | ON |
| Vision mezzanine | ICM42688 | IMU sensor - Accelerometer and Gyroscope | DIP2 (pin 5) | IMU\_INT\_1\_2\_SELECT\_LOGIC2 | <ul class="simple"><br><li><p>ON: IMU INT1 to ACCEL_I NT, IMU INT2 to GYRO_INT</p></li><br><li><p>OFF: IMU INT 1 and 2 disconnected</p></li><br></ul> | OFF |
| Vision mezzanine | ICP-10111 | Pressure/Barometer | DIP1 (pin 4) | PRESS\_SENS\_DISCONNECT | <ul class="simple"><br><li><p>ON: on- board</p></li><br><li><p>OFF: disconnected</p></li><br></ul> | ON |
| Vision mezzanine | AKM9xxx | Magnetometer | DIP1 (pin 5) | MAG\_SENSOR\_DISCONNECT | <ul class="simple"><br><li><p>ON: on- board</p></li><br><li><p>OFF: disconnected</p></li><br></ul> | ON |
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Only one IMU sensor can function at a time. If both sensors are enabled, only the Vision mezzanine IMU functions. See [DIP switches](https://docs.qualcomm.com/doc/80-70015-251/topic/rb3_dip_switches.html) for DIP switch locations.

Last Published: Feb 07, 2025

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Source: [https://docs.qualcomm.com/doc/80-70015-251/topic/rb3_gen2_sensors.html](https://docs.qualcomm.com/doc/80-70015-251/topic/rb3_gen2_sensors.html)