From bb07df3b9a5273411b9ec70813f0f5e5624cca8c Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Sun, 28 Jul 2024 14:15:12 +0300
Subject: [PATCH] change scale to raw value for all D500 devices

---
 src/ds/d500/d500-motion.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/ds/d500/d500-motion.cpp b/src/ds/d500/d500-motion.cpp
index cc4024e080..c03d2f14cd 100644
--- a/src/ds/d500/d500-motion.cpp
+++ b/src/ds/d500/d500-motion.cpp
@@ -32,8 +32,8 @@ namespace librealsense
 
     double d500_motion::get_gyro_default_scale() const
     {
-        // D500 devices output physical data in 0.1 [deg/sec] units.
-        return 0.1;
+        // D500 outputs raw 16 bit register value, dynamic range +/-125 [deg/sec] --> 250/65536=0.003814697265625 [deg/sec/LSB]
+        return 0.003814697265625;
     }
 
     std::shared_ptr<synthetic_sensor> d500_motion::create_hid_device( std::shared_ptr<context> ctx,