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You can check this example in our docs about working with IMU sensors on Navio2.
Also, you can output IMU data from ArduPilot. It’s capable of sending accelerometer, gyro, and compass data to ROS/mavros using MAVLink’s RAW_IMU message. You can find more information about it in this ArduPilot guide.
At the moment, ArduPilot uses a gyroscope, accelerometer, and magnetometer from MPU9250 chip and only a magnetometer from LSM9DS1.
Hopefully, this information would be of help to your application. Maybe our users would share their experience of working with IMU data from Navio2.