# Sensor readings in SI-unit form.
# These fields are scaled and offset-compensated where possible and do not
# change with board revisions and sensor updates.

uint64 timestamp                                # time since system start (microseconds)

int32 RELATIVE_TIMESTAMP_INVALID = 2147483647   # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid

# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_rad                     # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
uint32 gyro_integral_dt                 # gyro measurement sampling period in microseconds

int32 accelerometer_timestamp_relative  # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2           # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
uint32 accelerometer_integral_dt        # accelerometer measurement sampling period in microseconds

uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4

uint8 accelerometer_clipping    # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
uint8 gyro_clipping             # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame

uint8 accel_calibration_count   # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 gyro_calibration_count    # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.