update Accel and Gyro factor
#include <sensor_msgs/BatteryState.h>
#include <sensor_msgs/MagneticField.h>
-#define ACCEL_FACTOR -0.000598 // 2.0 * -9.8 / 32768 adc * 2/32768 = g
-#define GYRO_FACTOR 0.000133 // pi / (131 * 180) adc * 1/16.4 = deg/s => 1/16.4 deg/s -> 0.001064225157909 rad/s
+#define ACCEL_FACTOR -0.0005981 // (-9.8) * ADC_Value / Scale => Range : +- 2[g]
+ // Scale : +- 16384
+#define GYRO_FACTOR 0.0010642 // (ADC_Value/Scale) * (pi/180) => Range : +- 2000[deg/s]
+ // Scale : +- 16.4[deg/s]
+
#define MAG_FACTOR 6e-7
class Turtlebot3Sensor
