Hello guys! So, I'm quite new to this, but I have worked with the ArduCopter code, and I was wondering how the inertial sensors worked... so far, I've found that the inertial sensors worked in the AP_InertialSensor.cpp.... but the code is really difficult to understand... can anyone explain to me like a snippet of the code on how the accelerometer and gyroscope values are taken from the sensors and read on the code? Thank you!

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