Hi Ahmed, I haven't dug into it all that much, but in case this helps you,
mavlink_scaled_imu2_t should have units applied to it (the scaling), and the raw values should be just that, however, pay attention to the "imu2". That message is for a second IMU, (and there are also
mavlink_scaled_imu3_t messages as well), where mavlink_raw_imu_t should be reporting back from the primary IMU.
The data contained in the message
mavlink_scaled_imu_t will correspond to the primary IMU, and should be data from the same sensor reporting in
As a note, I took a look through the mavlink streams list and it looks to be the case that
mavlink_raw_imu_t is not being streamed and it also appears not to be reported elsewhere that I can see. If that is a message you require, start by looking at the streams_list array in
mavlink_messages.cpp, ~line 4824 for all of the messages being streamed at present.