I am using a ArduPilot board with ArduIMU V2+ for pitch roll and yaw sensing. The default code processes roll, pitch and yaw (ground course) and sends it into ArduPilot. ArduPilot thus has RLL, PCH and CRS information reflecting the respective angles in degress.
However, I need to get the roll, pitch and yaw rates. Which is the information before ArduIMU passes into DCM to process to become the angles. I'm kinda amateur at programming and am quite clueless about passing the gyro vector (or should I pass corrected gyro data?) data to ArduPilot and thus obtaining the information via wireless telemetry?
Is there anywhere I can find code for this? Or any resources that I can refer to write code for this?