HIGHRES IMU MAVLink Message

[KoehlerT]

Feature request

Is your feature request related to a problem? Please describe.

Multiple researchers and makers get frustrated with only getting rounded IMU data for applications like SLAM or trajectory reconstruction. Currently logfiles have to be downloaded from an SD Card and fed into scripts, retrieving the unrounded data.

Describe the solution you'd like

The MAVLink HIGHRES_IMU functionallity included in a stable release of ArduPilot.
Meaning the integration of Commits b159ecc and 40314a5.

Describe alternatives you've considered
The alternatives are: Using SCALED_IMU3, or RAW_IMU MAVLink messages or retrieving the data from logs on a SD Card (offline).
Those are suboptimal, because the values are either rounded, uncalibrated or come with a lot of effort, respectively.

Platform
[ x ] All
[ ] AntennaTracker
[ ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

Additional context
Legacy PR #24258
Recent PR #27007
Fix PR #28058

This issue is meant for discussion and coordination of this effort.
I am open for implementing additional functionality when given clear directions on how to (I am new to ArduPilot development and the MAVLink Protocol)

[KanzJ]

Thank you for creating this issue. We are working with Ardupilot-based systems for remote sensing applications. Scaled/rounded IMU data does not work there as it is not precise enough...

The HIGHRES_IMU funcionality would help us a lot.

[tejalbarnwal]

The HIGHRES_IMU funcionality would help us a lot.

I second this!

[IamPete1]

If I understand correctly the development branch already supports everything you need? We branch master for each new major release, 4.6 is not too far away.

[KoehlerT]

I misunderstood the process. Thought every release is from master 🥇