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docs/en/msg_docs/SensorsStatusImu.md
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---
pageClass: is-wide-page
---
# SensorsStatusImu (UORB message)
Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatusImu.msg)
**TOPICS:** sensors_statusimu
## 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
#
@@ -23,5 +49,6 @@ 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
```
:::