Clarification on IMU Data Transformation and Sampling Rate Enhancement for LHD15

[joriswa]

Hello,

I am currently engaged with the IMU streaming functionality of the LHD15 probe. Based on my observations, it seems that the acceleration data from the IMU, as defined in the solum_def.h file here, has already been converted to the coordinate frame indicated by the rotation measurements. Could you please confirm if my understanding is accurate?

Additionally, I am interested in understanding if there's a possibility to segregate the IMU streaming from the imaging process. This would potentially allow for a higher IMU data sampling rate. Could you also provide insights into the algorithm used for deriving quaternions from the IMU data?

Thank you in advance for your assistance.