Pigeon 2.0: 9-Degrees of Freedom IMU with AHRS

The Pigeon 2.0 is an all-in-one Inertial Measurement Unit (IMU) designed to give robotics teams and professionals rock-solid heading, orientation, and motion data without tedious bench setup. Featuring built-in 9-axis sensor fusion, factory-calibrated components, and massive improvements to gyro drift, it operates out of the box with zero required user calibration- meaning you can power up on the field and start driving immediately!

Encased in a protective polycarbonate case, the Pigeon 2.0 communicates natively over CAN or CAN FD, hooking into the CTRE  ecosystem for fast software setup, live telemetry, and direct integration with Phoenix Tuner and Phoenix Pro.

• Zero-Calibration Boot: Power up and drive immediately. The Pigeon 2.0 doesn't require you to hold the robot still at power-on, nor does it demand temperature or on-boot calibration routines before giving you usable heading data.
• Full 9-Axis AHRS Fusion: Combines a 3-axis gyro, 3-axis accelerometer, and 3-axis magnetometer through an internal Kalman filter to output precise Yaw, Pitch, Roll, Quaternions, and Gravity Vectors.
• Continuous Yaw & Auto-Rebiasing: Keeps heading measurements smooth across full 360-degree rotations. The gyro automatically re-biases itself whenever the device detects 4 seconds of stillness.
• Mount in Any Orientation: Hardware-level orientation independence lets you attach the housing flat, vertical, or angled without corrupting your spatial data (refer to manual for setup details).
• Factory Calibrated & Temperature Compensated: Accelerometer, gyro, and temperature-sensitive components are fully calibrated at the factory, protecting your control loops against thermal drift in long matches.
• Dual CAN / CAN FD Support: Connects directly into your CAN network with dual lead-pairs for simple daisy chaining. Fully compatible with both roboRIO and CANivore setups.
• Rugged, Flexible Power: Operates across a wide 6V to 28V input range with built-in reverse power protection and an enclosed polycarbonate housing to keep field debris off internal circuitry.
• Wireless Configuration & Simulation: Wirelessly flash firmware, adjust configs, and run diagnostics using Phoenix Tuner over roboRIO Wi-Fi. Features full hardware simulation support and software API binaries hosted on a 99.9% reliable Maven server.

Technical Specifications

• Internal Sensors: 3-Axis Accelerometer, 3-Axis Gyroscope, 3-Axis Magnetometer (9 DoF)
• Outputs: Yaw, Pitch, Roll, Quaternions, Gravity Vector
• Input Voltage Range: 6V to 28V DC
• Bus Support: CAN Bus and CAN FD (Compatible with roboRIO and CANivore)
• Circuit Protection: Reverse Input Power Protection
• Enclosure: Enclosed Polycarbonate Shell
• Wiring: 1x Power Lead-Pair, 2x CAN Lead-Pairs (3-pin male and female connectors)
• Firmware & API: Phoenix 6 / Phoenix Pro support, Phoenix Tuner wireless management, Hardware Simulation support

Field-Ready Motion Tracking

Eliminate the risk of ruined autonomous runs caused by accidental bumps during boot-up or uncalibrated gyros. The Pigeon 2.0 offloads heavy onboard sensor fusion math from your primary processor while giving your code smooth, low-drift heading data straight out of the pit.

(Note: The latest Pigeon 2.0 hardware update requires updating your software suite to the current release version.)

TIP: Pigeon 2.0 can be used with Phoenix Pro!

Yaw Drift

Technical Specifications

See Hardware User Manual for full specifications.