<fix>​Fixed the issue of abnormal SLAM data caused by IMU measurement range

README.md

@@ -16,7 +16,7 @@ This driver package provides core functionality for point cloud SLAM application
 
 ## 1. Version
 
-Current Version: v0.3.0
+Current Version: v0.3.1
 
 ## 2. Preparation
 

include/host_sdk_sample.h

@@ -128,9 +128,9 @@ extern int g_sendcloudrender;
 // Common definitions
 #define GD_ACCL_G 9.7833f
 #define ACC_1G_ms2 9.8
-#define ACC_SEN_SCALE 16348
+#define ACC_SEN_SCALE 4096
 #define PAI 3.14159265358979323846
-#define GYRO_SEN_SCALE 32.8f
+#define GYRO_SEN_SCALE 16.4f
 
 // Common functions
 inline float accel_convert(int16_t raw, int sen_scale) {

src/host_sdk_sample.cpp

@@ -28,7 +28,7 @@
     #include <ros/package.h>
     #include <ros/ros.h> 
 #endif
-#define ros_driver_version "0.3.0"
+#define ros_driver_version "0.3.1"
 // Global variable declarations
 static device_handle odinDevice = nullptr;
 static std::atomic<bool> deviceConnected(false);