Driver updated to

README.md

@@ -2,8 +2,12 @@
 
 Driver to Axis IMU.
 
+Use app file: motionloggerudp_0_6-0_mipsisa32r2el.eap
+
+at least.
+
 
 Usage:
 ```bash
-rosrun axis_imu axis_imu _frame_id:=imu_frame _rate:=100 _root_passwd:=pass _camera_ip:=192.168.7.19 _driver_ip:=192.168.7.160 _port:=5000
+rosrun axis_imu axis_imu _frame_id:=imu_frame _rate:=100 _root_passwd:=pass _camera_ip:=192.168.7.205 _driver_ip:=192.168.7.160 _port:=5000
 ```
\ No newline at end of file

src/axis_imu.cc

@@ -101,11 +101,13 @@ private:
       double gtime = bytesToDouble(1);
       //float ax, ay, az, gx, gy, gz;
       double ax, ay, az, gx, gy, gz;
-      gx = bytesToDouble(9);
-      gy = bytesToDouble(17);
-      gz = bytesToDouble(25);
+      // Should be in rad/s
+      gx = bytesToDouble(9)/180.0*M_PI;
+      gy = bytesToDouble(17)/180.0*M_PI;
+      gz = bytesToDouble(25)/180.0*M_PI;
 
       double atime = bytesToDouble(34);
+      // Accel should be in m/s²
       ax = bytesToDouble(42);
       ay = bytesToDouble(50);
       az = bytesToDouble(58);
@@ -265,6 +267,7 @@ int main(int argc, char *argv[]) {
 
   os << "http://" << camera_ip
      << "/local/motionloggerudp/control.cgi?cmd=start&target_ip=" << driver_ip
+     << "&target_port=" << port
      << "&accel_enabled=1&accel_rate_div=" << accel_div << "&gyro_enabled=1&gyro_rate_div=" << gyro_div;
   std::string url = os.str();