Mid360 imu data is incorrect

[xzwang12345]

Hello, My system is ubuntu22.04 I have used several livox mid360, the mid360 is mounted upside down on the robot. Used the same sdk and system , I encounter some mid360 imu is incorrect, some mid360 is correct, the correct linear_acceleration value is -1g, but the incorrect value is a constant value: -4g , this incorrect value does not fluctuate over time. what can causes the problem, and how to fix it ? Thank you this is the correct value And this is the incorrect value And the another two device the imu linear_acceleration z value plotjuggler is: