diff --git a/CHANGELOG.md b/CHANGELOG.md
index 643d4af..9d1879b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -250,4 +250,15 @@ author: [byq77](https://github.com/byq77)
 
 ### Fixed
   - fixed the bug in the odometry
-  - reverted odometry params
\ No newline at end of file
+  - reverted odometry params
+
+## [0.14.5] 
+
+TODO: add changes
+
+## [0.15.0] - 2021-10-20
+
+### Fixed
+- Fixed acc bug for both imu sensors.
+- Fixed the imu acc and gyro units to match units in the sensor_msgs/Imu message.
+- Fixed acc vector orientation for mpu9250.
\ No newline at end of file
diff --git a/README.md b/README.md
index d9c16cb..cc04376 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,7 @@ ______  _____  _____  _             _           __
 | |\ \ \ \_/ //\__/ /| |_) || (_) || |_       | |   \ V  V / 
 \_| \_| \___/ \____/ |_.__/  \___/  \__|      |_|    \_/\_/  
 ```                                                    
-**Firmware version:** `0.14.5`
+**Firmware version:** `0.15.0`
 
 ## Prerequisites
 You need to install following tools:
diff --git a/lib/imu-driver b/lib/imu-driver
index a9ca64b..dcfffa9 160000
--- a/lib/imu-driver
+++ b/lib/imu-driver
@@ -1 +1 @@
-Subproject commit a9ca64b8755cd5eb2db0a767a4b4aecfdac2bb49
+Subproject commit dcfffa9bf670aef9b285bddfc49482ea45b40108
diff --git a/mbed_app.json b/mbed_app.json
index 47e601f..1df6d35 100644
--- a/mbed_app.json
+++ b/mbed_app.json
@@ -1,6 +1,6 @@
 {
     "macros": [
-        "ROSBOT_FW_VERSION=\"0.14.5\"",
+        "ROSBOT_FW_VERSION=\"0.15.0\"",
         "WELLCOME_BANNER"
     ],
     "target_overrides": {
diff --git a/src/main.cpp b/src/main.cpp
index 1adf8c6..38388d8 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1149,18 +1149,21 @@ int main()
 
             if(nh.connected())
             {
-                int i = 0;
                 imu_msg.header.stamp = nh.now(message->timestamp);
-                imu_msg.orientation.x = message->orientation[i];
-                imu_msg.angular_velocity.x = message->angular_velocity[i];
-                imu_msg.linear_acceleration.x = message->angular_velocity[i++];
-                imu_msg.orientation.y = message->orientation[i];
-                imu_msg.angular_velocity.y = message->angular_velocity[i];
-                imu_msg.linear_acceleration.y = message->angular_velocity[i++];
-                imu_msg.orientation.z = message->orientation[i];
-                imu_msg.angular_velocity.z = message->angular_velocity[i];
-                imu_msg.linear_acceleration.z = message->angular_velocity[i++];
-                imu_msg.orientation.w = message->orientation[i];
+
+                imu_msg.orientation.x = message->orientation[0];
+                imu_msg.orientation.y = message->orientation[1];
+                imu_msg.orientation.z = message->orientation[2];
+                imu_msg.orientation.w = message->orientation[3];
+
+                imu_msg.angular_velocity.x = message->angular_velocity[0];
+                imu_msg.angular_velocity.y = message->angular_velocity[1];
+                imu_msg.angular_velocity.z = message->angular_velocity[2];
+
+                imu_msg.linear_acceleration.x = message->linear_acceleration[0];
+                imu_msg.linear_acceleration.y = message->linear_acceleration[1];
+                imu_msg.linear_acceleration.z = message->linear_acceleration[2];
+                
                 imu_pub->publish(&imu_msg);
             }