px4-firmware/msg/vehicle_imu_status.msg

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uint64 timestamp # time since system start (microseconds)
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
uint32[3] accel_clipping # total clipping per axis
uint32 accel_error_count
uint32 gyro_error_count
float32 accel_rate_hz
float32 gyro_rate_hz
float32 accel_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
float32 gyro_vibration_metric # high frequency vibration level in the IMU delta velocity data (m/s)
float32 gyro_coning_vibration # Level of coning vibration in the IMU delta angles (rad^2)
float32[3] mean_accel # average accelerometer readings since last publication
float32[3] mean_gyro # average gyroscope readings since last publication
float32 temperature_accel
float32 temperature_gyro