   imu_msg.angular_velocity_covariance[7] = 0;
   imu_msg.angular_velocity_covariance[8] = 0.02;
 
-  imu_msg.linear_acceleration.x = imu.SEN.accRAW[0];
-  imu_msg.linear_acceleration.y = imu.SEN.accRAW[1];
-  imu_msg.linear_acceleration.z = imu.SEN.accRAW[2];
+  imu_msg.linear_acceleration.x = imu.SEN.accADC[0];
+  imu_msg.linear_acceleration.y = imu.SEN.accADC[1];
+  imu_msg.linear_acceleration.z = imu.SEN.accADC[2];
   imu_msg.linear_acceleration_covariance[0] = 0.04;
   imu_msg.linear_acceleration_covariance[1] = 0;
   imu_msg.linear_acceleration_covariance[2] = 0;

  imu_msg.linear_acceleration_covariance[7] = 0;
  imu_msg.linear_acceleration_covariance[8] = 0.04;

  float c1 = cos(DEG2RAD(imu.angle[1]/10)/2);
  float s1 = sin(DEG2RAD(imu.angle[1]/10)/2);
  float c2 = cos(DEG2RAD(imu.angle[2])/2);
  float s2 = sin(DEG2RAD(imu.angle[2])/2);
  float c3 = cos(DEG2RAD(imu.angle[0]/10)/2);
  float s3 = sin(DEG2RAD(imu.angle[0]/10)/2);

  float c1c2 = c1 * c2;
  float s1s2 = s1 * s2;

  float q1 = c1c2 * s3  + s1s2 * c3;
  float q2 = s1 * c2 * c3 + c1 * s2 * s3;
  float q3 = c1 * s2 * c3 - s1 * c2 * s3;
  float q4 = c1c2 * c3  - s1s2 * s3;

  imu_msg.orientation.x = q1;
  imu_msg.orientation.y = q2;
  imu_msg.orientation.z = q3;
  imu_msg.orientation.w = q4;
  imu_msg.orientation_covariance[0] = 0.0025;
  imu_msg.orientation_covariance[1] = 0;
  imu_msg.orientation_covariance[2] = 0;

  imu_msg.header.stamp    = nh.now();
  imu_msg.header.frame_id = "imu_link";

  imu_msg.angular_velocity.x = imu.SEN.gyroADC[0];
  imu_msg.angular_velocity.y = imu.SEN.gyroADC[1];
  imu_msg.angular_velocity.z = imu.SEN.gyroADC[2];
  imu_msg.angular_velocity_covariance[0] = 0.02;
  imu_msg.angular_velocity_covariance[1] = 0;
  imu_msg.angular_velocity_covariance[2] = 0;
