From 5db9a027e414de62e6a7abd5cd402e86203d5b55 Mon Sep 17 00:00:00 2001
From: dr0ne-guy <guyd72313@gmail.com>
Date: Wed, 4 Sep 2024 12:46:20 +0530
Subject: [PATCH] Example to print IMU data (#727)

* Print IMU data

* Modified to print IMU data

* Changed the sleep

* Removed delay

* Changed style
---
 examples/highres_imu.py | 42 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 42 insertions(+)
 create mode 100644 examples/highres_imu.py

diff --git a/examples/highres_imu.py b/examples/highres_imu.py
new file mode 100644
index 00000000..dce22fdf
--- /dev/null
+++ b/examples/highres_imu.py
@@ -0,0 +1,42 @@
+import asyncio
+from mavsdk import System
+
+
+async def get_imu_data():
+    # Connect to the drone
+    drone = System()
+    await drone.connect(system_address="udp://:14540")
+
+    # Wait for the drone to connect
+    print("Waiting for drone to connect...")
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print("Drone is connected!")
+            break
+
+    telemetry = drone.telemetry
+
+    # Set the rate at which IMU data is updated (in Hz)
+    await telemetry.set_rate_imu(200.0)
+
+    # Fetch and print IMU data
+    print("Fetching IMU data...")
+    async for imu in telemetry.imu():
+        # Print data in HIGHRES_IMU format
+        print(f"HIGHRES_IMU (105)")
+        print(f"Time (us): {imu.timestamp_us}")
+        print(f"X Acceleration (m/s^2): {imu.acceleration_frd.forward_m_s2}")
+        print(f"Y Acceleration (m/s^2): {imu.acceleration_frd.right_m_s2}")
+        print(f"Z Acceleration (m/s^2): {imu.acceleration_frd.down_m_s2}")
+        print(f"X Gyro (rad/s): {imu.angular_velocity_frd.forward_rad_s}")
+        print(f"Y Gyro (rad/s): {imu.angular_velocity_frd.right_rad_s}")
+        print(f"Z Gyro (rad/s): {imu.angular_velocity_frd.down_rad_s}")
+        print(f"X Mag (gauss): {imu.magnetic_field_frd.forward_gauss}")
+        print(f"Y Mag (gauss): {imu.magnetic_field_frd.right_gauss}")
+        print(f"Z Mag (gauss): {imu.magnetic_field_frd.down_gauss}")
+        print(f"Temperature (°C): {imu.temperature_degc}")
+        print("-----------------------------------------")
+
+if __name__ == "__main__":
+    loop = asyncio.get_event_loop()
+    loop.run_until_complete(get_imu_data())