arduPilot read IMU data

Hello everyone,
I am starting with ArduPilot on navio2+Rpi. What I need is to:

  1. set MPU9250’s rates
  2. read that data
  3. calculate quaternion from each raw data.
    Could anyone help me?

ArduPilot already does exactly what you need. You can get this data using ROS.

Also you can look at our example for Navio2 AHRS.

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