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# VehicleImuStatus (UORB message)

**TOPICS:** vehicle_imustatus

## Fields

| 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)

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
```

:::