update freq from 100 -> 200

donkeycar/parts/imu.py

@@ -179,7 +179,7 @@ def poll(self):
             self.matrix = self.ahrs.quaternion.to_matrix()
             self.lin_accel = np.dot(self.matrix, accel_phys)
             # remove gravity from world coordinate z-axis
-            self.lin_accel -= self.accel_zero
+            self.lin_accel[2] -= self.accel_zero[2]
             delta_v = self.lin_accel * dt
             self.speed += delta_v
             self.pos += self.speed * dt