In case IMU is not aligned with the body coordinate system (for example 90deg offset around z axis), is there a reason for seeing specifically the imu rates instead of body rates? In my code the acceleration is translated into the body axis too before it is saved into imu struct
(https://github.com/podhrmic/paparazzi/blob/master/sw/airborne/subsystems/ahrs/ahrs_gx3.c#L255)
In case the acceleration/rates in imu coordinate system is really important for some reason, I would probably make a separate message for acc/rates in body frame?