
TDK InvenSense
MPU-6500 is a close 6-axis IMU alternative, but footprint and pinout need review.
MPU-6050 replacements need careful review because the target is NRND and no pin-compatible candidate is proven here.
Voltage ranges cover, but modes need review.
Candidates list smaller QFN bodies.
Register and DMP behavior may differ.
MPU-6050 and MPU-6500 are NRND.
No verified pin-compatible replacement is proven from the current fields.
Use MPU-6500 for closest 6-axis review, or ICM-20948 for a redesign path.
Pinout, footprint, and firmware compatibility are not verified.

TDK InvenSense
MPU-6500 is a close 6-axis IMU alternative, but footprint and pinout need review.
| Feature / factor | MPU-6050 | MPU-6500 | ICM-20948 | Alt 3 | Compatibility / risk |
|---|---|---|---|---|---|
| Application | 6-axis gyro+accel | 6-axis gyro+accel | 9-axis gyro+accel+compass | 6-axis gyro+accel / 9-axis gyro+accel+compass — same sensor role; ICM-20948: extra compass | |
| Interface | I2C | I2C,SPI | I2C,SPI | I2C,SPI — I2C present; ICM-20948: I2C present | |
| Voltage | 2.375-3.46V | 1.71-3.6V | 1.71-3.6V | 1.71-3.6V — range covers; ICM-20948: range covers | |
| Package | 24-QFN 4x4x0.9 | 24-QFN 3x3x0.9 | 24-QFN 3x3x1 | 24-QFN 3x3x0.9 / 24-QFN 3x3x1 — footprint risk; ICM-20948: footprint risk | |
| Pinout | not provided | not provided | not provided | not provided — must verify; ICM-20948: must verify |
MPU-6500 is the closest 6-axis candidate here, but it still needs pinout, footprint, and firmware review.