# How to get actual gyro, accelero, barometer readings?

**URL:** <https://discuss.px4.io/t/how-to-get-actual-gyro-accelero-barometer-readings/10204>\
**Category:** Pixhawk\
**Created:** [March 27, 2019, 9:39am UTC](https://discuss.px4.io/t/how-to-get-actual-gyro-accelero-barometer-readings/10204 "2019-03-27T09:39:12Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Tej\_R](https://discuss.px4.io/letter_avatar_proxy/v4/letter/t/f17d59/32.png) [@Tej\_R](https://discuss.px4.io/u/Tej_R)\
**Post date:** [March 27, 2019, 9:39am UTC](https://discuss.px4.io/t/how-to-get-actual-gyro-accelero-barometer-readings/10204/1 "2019-03-27T09:39:12Z")

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Hi ,

I am using Pixhawk 4 ans it is equipped with gyro, accelero, barometer.  
When i opened pixhawk4 in QGC all the parameters were there like CAL\_GYRO\_XSCALE, etc .and these value were too much. When I ran ‘sensors’ topic on MAVLink console . i got a lot of readings and all of them were quite intimidating

I want to know how can get actual gyro, accelero, barometer readings in (rad/s, m/s^2, meters respetively). from these readings ? Also i wanted to know if I have used correct topic (‘sensors’) to get the reading from the sensors or is there another topic?

Thanks in advance

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**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\
**Post date:** [March 27, 2019, 1:03pm UTC](https://discuss.px4.io/t/how-to-get-actual-gyro-accelero-barometer-readings/10204/2 "2019-03-27T13:03:57Z")

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You can use the listener command to look at messages published by uORB which include the sensor messages.

This is the command:  
[https://dev.px4.io/en/middleware/modules\_command.html#listener](https://dev.px4.io/en/middleware/modules_command.html#listener)

And here is more info:  
[https://dev.px4.io/en/debug/sensor\_uorb\_topic\_debugging.html](https://dev.px4.io/en/debug/sensor_uorb_topic_debugging.html)