IMU Accelerometers and Gyro Outputs

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 (0.01s nominally). a = dvel/dt = (m/s)/s = m/s^2 Omega = dangle/dt = (rads)/s