AP_InertialSensor: IMU and Vibration Driver Library

// Initialise for a 400 Hz main loop (typical for copters)
AP::ins().init(400);

INS_ACCOFFS_X / Y / Z   — offset vector (m/s²)
INS_ACCSCL_X / Y / Z    — scale factors
INS_ACC2OFFS_* / INS_ACC3OFFS_*  — per-instance offsets

#include <AP_InertialSensor/AP_InertialSensor.h>

void example_ins_read()
{
    AP_InertialSensor &ins = AP::ins();

    // Check overall health before using data
    if (!ins.healthy()) {
        return;
    }

    // Primary filtered gyro reading (rad/s)
    const Vector3f &gyro = ins.get_gyro();
    float roll_rate  = gyro.x;  // rad/s
    float pitch_rate = gyro.y;  // rad/s
    float yaw_rate   = gyro.z;  // rad/s

    // Primary filtered accel reading (m/s²)
    const Vector3f &accel = ins.get_accel();

    // Delta-angle integral for EKF (preferred over raw gyro)
    Vector3f delta_angle;
    float delta_angle_dt;
    if (ins.get_delta_angle(delta_angle, delta_angle_dt)) {
        // delta_angle in radians, delta_angle_dt in seconds
    }

    // Delta-velocity integral for EKF
    Vector3f delta_vel;
    float delta_vel_dt;
    if (ins.get_delta_velocity(delta_vel, delta_vel_dt)) {
        // delta_vel in m/s, delta_vel_dt in seconds
    }

    // Per-instance health and rate
    for (uint8_t i = 0; i < ins.get_gyro_count(); i++) {
        bool gyro_ok = ins.get_gyro_health(i);
        uint16_t rate_hz = ins.get_gyro_rate_hz(i);
    }

    // Vibration monitor
    Vector3f vibe = ins.get_vibration_levels();
}