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# SensorsStatusImu (UORB message)

Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.

**TOPICS:** sensors_status_imu

## Fields

| Name                      | Type         | Unit [Frame] | Range/Enum | Description                                                                    |
| ------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------------ |
| timestamp                 | `uint64`     |              |            | time since system start (microseconds)                                         |
| accel_device_id_primary   | `uint32`     |              |            | current primary accel device id for reference                                  |
| accel_device_ids          | `uint32[4]`  |              |            |
| accel_inconsistency_m_s_s | `float32[4]` |              |            | magnitude of acceleration difference between IMU instance and mean in m/s^2.   |
| accel_healthy             | `bool[4]`    |              |            |
| accel_priority            | `uint8[4]`   |              |            |
| gyro_device_id_primary    | `uint32`     |              |            | current primary gyro device id for reference                                   |
| gyro_device_ids           | `uint32[4]`  |              |            |
| gyro_inconsistency_rad_s  | `float32[4]` |              |            | magnitude of angular rate difference between IMU instance and mean in (rad/s). |
| gyro_healthy              | `bool[4]`    |              |            |
| gyro_priority             | `uint8[4]`   |              |            |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatusImu.msg)

::: details Click here to see original file

```c
#
# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
#
uint64 timestamp # time since system start (microseconds)

uint32 accel_device_id_primary       # current primary accel device id for reference

uint32[4] accel_device_ids
float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in m/s^2.
bool[4] accel_healthy
uint8[4] accel_priority

uint32 gyro_device_id_primary       # current primary gyro device id for reference

uint32[4] gyro_device_ids
float32[4] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and mean in (rad/s).
bool[4] gyro_healthy
uint8[4] gyro_priority
```

:::
