Note: SW Release Applicability: This tutorial is applicable to modules in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

The IMU sensor provides several timestamp options depending on sensor type. These options can be toggled using the output-timestamp sensor parameter, and work by modifying the dwIMUFrame.timestamp_us returned when reading a frame. The following table summarizes the timestamp options available for each supported IMU sensor. The default option is host.

Note: this parameter does not modify raw data. For more information, see Sensor Timestamping.

Protocol	Vendor	Prerequisites	output-timestamp	Notes
imu.bosch	Bosch		host
imu.xsensCan	Xsens		host
imu.dataspeed			host
imu.uart	Xsens		host
imu.continental	Continental		host
imu.novatel	Novatel		host
		Time sensor	synced	Time
imu.xsens	Xsens		host
			smoothed
		Time sensor	synced	Time
imu.simulator			host
			raw
imu.virtual			host
			smoothed	If supported by vendor above
		Time sensor virtual	synced	If supported by vendor above