I was wondering if the IMU data (gyro and accelerometer) in the flight log is raw or filtered?

(I uploaded a picture of what the data looks like in my flight log).

Thanks in advance!

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Also, if anyone can tell me what frame the IMU measurements are in, that'd be great! I'm assuming that the measurements are in the NED frame (which would mean that the positive Z direction is down)

Sorry, but I have one more question: What are the units returned by the magnetometer in the flight logs? I would guess milli Gaus, but I can't seem to find it written down anywhere.

Thanks a lot!

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