What sensors are mixed for received sensor data?

Product: [Bebop/Bebop2]

Hi,

The sensor data I received are:

  1. Attitude (pitch/roll/yaw angles)
  2. Altitude
  3. Speed
  4. Location (latitude, longitude, GPS Altitude)

What I’m curious to know is which sensors are used for each of these measurements.
I’m pretty sure altitude is measured from ultrasonic sensor and location is measured from GPS, but unsure of others

Thanks,
Kangmin