I need help understanding the difference from Y/P/R rate and the data that I can get from a gyroscope. I am using the raw readings of my IMU (MPU9250) and the Madwick Filter to calculate a quaternion that represents the orientation of my device, then I can get the Y/P/R angles from it, also I need to get the Y/P/R RATES and this is where my mind gets confused. If my understanding is correct, these are the rate of change of the corresponding angles. A gyroscope can measure rotation around three axes: x, y, and z, right? And they are not the same as the Y/P/R angles. How should I be getting the data I need with using only an IMU?
I'm am really sorry for my badly written explanation, English is not my first language and I'm a software engineer not specialized in this field so it gets even harder to communicate my doubts. Thanks!