# Inertial Measurement Unit (IMU) Application¶

The Inertial Measurement Unit (IMU) application enables the OpenIMU hardware to provide inertial-sensor data from accelerometers, rate-sensors, and magnetometers.

The exact combination of sensor data you use will depend upon the ultimate goal of your project. However, at least a subset of this data is required to create an application that estimates attitude, position, and/or heading.

The IMU application performs the following functions:

• Sets the default OpenIMU configuration for the IMU application

• Acquires Sensor Data - acceleration, angular-rate, local magnetic-field, and sensor temperature data

• Generates and sends the following output message to the UART:

• A relative time measurement (both integer and decimal values)
• Acceleration readings in $$[g]$$
• Magnetic-field readings in $$[G]$$