# IMU readings in SI-unit form.

uint64 timestamp          # time since system start (microseconds)
uint64 timestamp_sample

uint32 accel_device_id          # Accelerometer unique device ID for the sensor that does not change between power cycles
uint32 gyro_device_id           # Gyroscope unique device ID for the sensor that does not change between power cycles

float32[3] delta_angle          # delta angle in the NED board axis in rad/s over the integration time frame (dt)
float32[3] delta_velocity       # delta velocity in the NED board axis in m/s over the integration time frame (dt)

uint16 dt                       # integration period in us

uint8 integrated_samples        # number of samples integrated
uint8 clip_count                # total clip count per integration period on any axis