The sensor sends either a feature report or an input report to the HID class driver. A feature report is sent in response to a request from the driver. This report contains property data including the sensor's change-sensitivity setting, its report interval, and its reporting state. An input report is sent either upon request, or asynchronously in response to an event. This report contains the actual sensor data. For example, for an accelerometer, the report contains the G-forces along the x-, y-, and z-axes)., Sensor Drivers¶ ArduPilot supports a wide variety of sensors from many different manufacturers. One clear example of this can be seen in the list of range finders (aka sonars, lidars). This page attempts to explain how sensor drivers are written and integrated into the vehicle code. Supported Protocols¶, Sensor fusion software is a complete 9-axis fusion solution, which combines the measurements from 3-axis gyroscope, 3-axis geomagnetic sensor and a 3-axis accelerometer to provide a robust absolute orientation vector. The algorithm fuses the sensor raw data from three sensors in an intelligent way to improve each sensor’s output..