I think I found a tiny error in the ArduIMU firware like follows:
in the arduimu.pde file, at the beginning
#define GRAVITY 101
#define Accel_Scale(x) x*(GRAVITY/9.81
should be .................. x/(GRAVITY/9.81
(after this modification, now I can output the correct acc information)
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I think you're mistaken, since that kind of massive error would have shown up already and you wouldn't have everyone flying well as they are, but I'll leave it to the authors, like Jose Julio, to comment. Normally scalers are multiplied, not divided.