#
# Raw IMU data with timestamps.
#
# THIS DEFINITION MAY BE CHANGED IN A NON-BACKWARD-COMPATIBLE WAY IN THE FUTURE.
#

#
# Data acquisition timestamp in the bus shared time base.
#
uavcan.Timestamp timestamp

#
# Integration interval, seconds.
# Set to a non-positive value if the integrated samples are not available
# (in this case, only the latest point samples will be valid).
#
float32 integration_interval

#
# Angular velocity samples in radian/second.
# The samples are represented in the body frame, the axes are ordered as follows:
#   1. angular velocity around X (roll rate)
#   2. angular velocity around Y (pitch rate)
#   3. angular velocity around Z (yaw rate)
#
float16[3] rate_gyro_latest                 # Latest sample, radian/second
float32[3] rate_gyro_integral               # Integrated samples, radian/second

#
# Linear acceleration samples in meter/(second^2).
# The samples are represented in the body frame, the axes are ordered as follows:
#   1. linear acceleration along X (forward positive)
#   2. linear acceleration along Y (right positive)
#   3. linear acceleration along Z (down positive)
#
float16[3] accelerometer_latest             # Latest sample, meter/(second^2)
float32[3] accelerometer_integral           # Integrated samples, meter/(second^2)

#
# Covariance matrix. The diagonal entries are ordered as follows:
#   1. roll rate                (radian^2)/(second^2)
#   2. pitch rate               (radian^2)/(second^2)
#   3. yaw rate                 (radian^2)/(second^2)
#   4. forward acceleration     (meter^2)/(second^4)
#   5. rightward acceleration   (meter^2)/(second^4)
#   6. downward acceleration    (meter^2)/(second^4)
#
float16[<=36] covariance