Apparatus for detecting angular velocity and acceleration

An apparatus for detecting angular velocity and acceleration having diagnosing units (401, 402, 403, 404) for diagnosing the function of detecting angular velocity; diagnosing units (405, 406) for diagnosing the function of detecting acceleration; a diagnosing unit for a DSP or a MPU; multiple ROMs (202, 203) storing the same data; a diagnosing unit for the ROMs (202, 203); a diagnosing unit for a RAM (207); a unit (300) for outputting the outputs of the angular velocity sensor, the acceleration sensor and the results of diagnoses all together in response to an output command from an external device (500); and a unit for sending error detection codes along with the sensor outputs and the result of diagnoses when the sensor outputs and the results of diagnoses are outputted together.