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That depends on which firmware you use.

APM

rosrun mavros mavsys rate --raw-sensors 10 --ext-status 10

(try different rates, also may be useful --all)

PX4

Edit extras.txt on SD, add this:

mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 200
mavlink stream -d /dev/ttyACM0 -s HIGHRES_IMU -r 200

(-d parameter depends on used port)

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