Pigeon® 2.0 IMU

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.