Hi,

I am trying to understand how the ekf module works in PX4, and I ran into a confusing part.

In src/modules/ekf2/EKF2.cpp I tried to follow how the angular rate is published, and the unit of the variables seem to be controversial.

First here we define `imu_sample_new.delta_ang`

as `[rad/s]`

, but if the if statement goes here it is integrating the gyro output over time and it will be set as `[rad]`

.

Furthermore, here we should get `[rad/s]`

for rollspeed, therefore the `imu.delta_ang`

variable’s unit should be `[rad/s/s]`

.

(I have taken all unit definitions from corresponding `.msg`

files.)

I’m sure I am missing something trivial but can someone point out where I made the mistake?

Thanks in advance for any help.