Inertial Measurement Units

• Fields t, a_x, a_y, a_z, w_x, w_y, w_z (7 cols) everywhere; 0 NaN, monotone timestamps. Specific force m/s², angular rate rad/s, body/sensor frame.
• Accelerometer gravity at rest: PX4 9.807 (≈ g), LSM ~10.0 (+2%), RealSense ~10.3 (+5%).
  • PX4 is the only accelerometer near true g; absorb the LSM/RS residual scale online or pre-calibrate from the static set.
• LSM defects (Known Defects): missing ×24/16 accel scaling on 5 runs; large gyro static bias on all Klagenfurt runs.
• Support / ground_truth copies:
  • Support copies on mars_4/mars_8 (px4_imu_data, rs_imu_data, lsm9ds1_imu_data) are untrimmed time-supersets, not duplicates.
  • ground_truth/px4_imu_data.csv is headerless with the same field order (drops the first sample if read header-inferred).
  • mars_15 carries an orphan ground_truth/lsm_imu.csv (larger than its main lsm_imu.csv).