I’m pulling the SCALED_IMU message, but the data doesn’t make sense to me. Per the MAVlink documentation the units for the accelerometers should be in mg, however when the unit is sitting on a level platform the readings in the zacc field only reads 219 when it should read close to 1000. Looking at the zacc field in the HIGHRES_IMU shows a correct gravity reading of 9.81 m/s^2.
I’m finding it hard to believe that I have a faulty IMU because the one IMU message reads correctly. Are the units documented incorrect for a Pixhawk 2? What is the process for going from SCALED_IMU to HIGHRES_IMU (apart from full strapdown IMU processing)?
Sorry, I should hav realized that may be relevant! Versions below. I’m using the MAVlink C interface in my own custom application. I’m able to receive all the default messags properly and the other data fields in SCALED_IMU look reasonable (though I’m not sure what to expect from the magnetometer).
I should also mention that I’m using QGroundControl to easily view the data. I have verified that the data seen by my application and QGroundControl match.