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docs/en/msg_docs/VehicleImuStatus.md
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@@ -1,8 +1,41 @@
---
pageClass: is-wide-page
---
# VehicleImuStatus (UORB message)
**TOPICS:** vehicle_imustatus
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImuStatus.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| accel_clipping | `uint32[3]` | | | total clipping per axis |
| gyro_clipping | `uint32[3]` | | | total clipping per axis |
| accel_error_count | `uint32` | | |
| gyro_error_count | `uint32` | | |
| accel_rate_hz | `float32` | | |
| gyro_rate_hz | `float32` | | |
| accel_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) |
| gyro_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) |
| accel_vibration_metric | `float32` | | | high frequency vibration level in the accelerometer data (m/s/s) |
| gyro_vibration_metric | `float32` | | | high frequency vibration level in the gyro data (rad/s) |
| delta_angle_coning_metric | `float32` | | | average IMU delta angle coning correction (rad^2) |
| mean_accel | `float32[3]` | | | average accelerometer readings since last publication |
| mean_gyro | `float32[3]` | | | average gyroscope readings since last publication |
| var_accel | `float32[3]` | | | accelerometer variance since last publication |
| var_gyro | `float32[3]` | | | gyroscope variance since last publication |
| temperature_accel | `float32` | | |
| temperature_gyro | `float32` | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImuStatus.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -33,5 +66,6 @@ float32[3] var_gyro # gyroscope variance since last publication
float32 temperature_accel
float32 temperature_gyro
```
:::