# Acceleration and Angular Rate from the RAWIMU log

The RAWIMU data is in velocity increments (m/s) for the accelerometers, and in angular increments for the gyros (rads). It is the incremental change over the sampling time interval. So for the accelerometers, the acceleration is the velocity increment given in the rawimu log (in m/s) divided by the delta time in seconds. a = dvel/dt = (m/s)/s = m/s^2 Omega = dangle/dt = (rads)/s

Here is a RAWIMUSA log obtained using the iIMAR imu: %RAWIMUSA,1500,202729.304;1500,202729.304063700,00000000,31695,617,378,1536,15615,-7680*fc8f8ff8

The accelerometer output is velocity increments or change in velocity (m/s) since the last measurement. The period between measurements is 0.005s The units of the accelerometer data is change in velocity in m/s per 0.005s sample period. You can think of it as (m/s/0.005s). Accelerometer data can always be verified by looking for data in the UP axis (Z axis in this case). When the IMU is stationary the acceleration measurement on the UP axis should give a value approximately equal to gravity. In this example: Acceleration = (Change in Velocity * scale factor)/0.005 = [31695 * (0.05*2^-15)]/0.005 = 9.67m/s^2