Vehicleimustatus

VehicleImuStatus (UORB message)

source file

```c 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[3] gyro_clipping # total clipping per axis

uint32 accel_error_count uint32 gyro_error_count

float32 accel_rate_hz float32 gyro_rate_hz

float32 accel_raw_rate_hz # full raw sensor sample rate (Hz) float32 gyro_raw_rate_hz # full raw sensor sample rate (Hz)

float32 accel_vibration_metric # high frequency vibration level in the accelerometer data (m/s/s) float32 gyro_vibration_metric # high frequency vibration level in the gyro data (rad/s) float32 delta_angle_coning_metric # average IMU delta angle coning correction (rad^2)

float32[3] mean_accel # average accelerometer readings since last publication float32[3] mean_gyro # average gyroscope readings since last publication float32[3] var_accel # accelerometer variance since last publication float32[3] var_gyro # gyroscope variance since last publication

float32 temperature_accel float32 temperature_gyro

```