fix GYRO_FACTOR
#include <sensor_msgs/BatteryState.h>
#include <sensor_msgs/MagneticField.h>
-#define ACCEL_FACTOR -0.000598 // 2.0 * -9.8 / 32768
-#define GYRO_FACTOR 0.000133 // pi / (131 * 180)
+#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 MAG_FACTOR 6e-7
class Turtlebot3Sensor
