Aceinna Low Cost RTK


Platform Aceinna IMU: Open-source, embedded development platform for Aceinna IMU hardware. Run custom algorithms and navigation code on Aceinna IMU/INS hardware.

Microcontroller STM32F469NIH6
Frequency 180MHz
Flash 1MB
Vendor Aceinna


Please use LowCostRTK ID for board option in “platformio.ini” (Project Configuration File):

platform = aceinna_imu
board = LowCostRTK

You can override default Aceinna Low Cost RTK settings per build environment using board_*** option, where *** is a JSON object path from board manifest LowCostRTK.json. For example, board_build.mcu, board_build.f_cpu, etc.

platform = aceinna_imu
board = LowCostRTK

; change microcontroller
board_build.mcu = stm32f469nih6

; change MCU frequency
board_build.f_cpu = 180000000L


Aceinna Low Cost RTK supports the next uploading protocols:

  • blackmagic
  • jlink
  • stlink

Default protocol is stlink

You can change upload protocol using upload_protocol option:

platform = aceinna_imu
board = LowCostRTK

upload_protocol = stlink


PIO Unified Debugger - “1-click” solution for debugging with a zero configuration.


You will need to install debug tool drivers depending on your system. Please click on compatible debug tool below for the further instructions and configuration information.

You can switch between debugging Tools & Debug Probes using debug_tool option in “platformio.ini” (Project Configuration File).

Aceinna Low Cost RTK has on-board debug probe and IS READY for debugging. You don’t need to use/buy external debug probe.

Compatible Tools On-board Default
Black Magic Probe    


Name Description
STM32Cube STM32Cube embedded software libraries, including: The HAL hardware abstraction layer, enabling portability between different STM32 devices via standardized API calls; The Low-Layer (LL) APIs, a light-weight, optimized, expert oriented set of APIs designed for both performance and runtime efficiency.