What does the 'RATE'in the 'DataFlash Logs'mean

ArduCopter
1

hi gays!
I use the ArduPilot to do some test, now I wonder the rotate speed of the plane .Does the “R”,‘P’,"Y"in the "RATE"of the 'DataFlash Logs’meas that?if that what does the unit of it?centidegree/s?or some others?
thank you for your help!!

2

Hi Metello,

Apparently the RATE message is exactly what the title suggests, and RATE.R, RATE.P, RATE.Y are Roll, Pitch and Yaw rates. Take a look at Randy(@rmackay9)'s answer here. ‌But about the units, I could not find anything.
Could someone please clear this up?