Type of the MAV (quadrotor, helicopter, etc.) The onboard software version X acceleration (mg raw) Y acceleration (mg raw) Z acceleration (mg raw) Angular speed around X axis (adc units) Angular speed around Y axis (adc units) Angular speed around Z axis (adc units) X Magnetic field (milli tesla) Y Magnetic field (milli tesla) Z Magnetic field (milli tesla) Barometric pressure (hecto Pascal) Ground distance (meters) Temperature (degrees celcius) Roll angle (rad) Pitch angle (rad) Yaw angle (rad) Roll angular speed (rad/s) Pitch angular speed (rad/s) Yaw angular speed (rad/s)