HIGHRES IMU sub uORB topic problem

[dssdyx]

Hi! In your PX4 firmware branch, the HIGHRES IMU message is published by vehicle_acceleration and vehicle_angular_velocity without estimator sensor bias and sensor_combined. And you also change vehicle_acceleration and vehicle_angular_velocity, delete the bias correct. If do this, Would it become a single imu without filter or corrected? Just like the imu of d435i?