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# SensorsStatusImu (повідомлення UORB)

Метрики перевірки датчика. This will be zero for a sensor that's primary or unpopulated.

**TOPICS:** sensors_status_imu

## Fields

| Назва                                                                                                         | Тип          | Unit [Frame] | Range/Enum | Опис                                                                                                              |
| ------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- |
| 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)

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```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
```

:::