px4-firmware/msg/sensor_gyro_fifo.msg

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uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 dt # delta time between samples (microseconds)
float32 scale
uint8 samples # number of valid samples
int16[32] x # angular velocity in the FRD board frame X-axis in rad/s
int16[32] y # angular velocity in the FRD board frame Y-axis in rad/s
int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s
uint8 rotation # Direction the sensor faces (see Rotation enum)