diff --git a/interface_lib/src/imu_protocol_xo.c b/interface_lib/src/imu_protocol_xo.c
index 6ab399c..a77258d 100644
--- a/interface_lib/src/imu_protocol_xo.c
+++ b/interface_lib/src/imu_protocol_xo.c
@@ -1,21 +1,19 @@
-// Ensure POSIX clock_gettime and CLOCK_MONOTONIC are exposed from headers
-#ifndef _POSIX_C_SOURCE
-#define _POSIX_C_SOURCE 199309L
-#endif
-
 #include "imu_protocol.h"
 #include "device_imu.h"
 
 #include <hidapi/hidapi.h>
+#include <math.h>
 #include <string.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <math.h>
 #include <stdint.h>
 #include <time.h>
 
 #include <xreal_one_driver.h>
 
+#define M_PI 3.14159265358979323846
+#define RADIANS_TO_DEGREES (180.0 / M_PI)
+
 typedef struct {
     XrealOneHandle* h;
 } xo_ctx;
@@ -80,9 +78,9 @@ static int xo_next_sample(device_imu_type* device, struct imu_sample* out, int t
     if (rc != 0) return rc; // propagate non-zero (e.g., error or no-sample)
 
     memset(out, 0, sizeof(*out));
-    out->gx = imu.gyro[0];
-    out->gy = imu.gyro[1];
-    out->gz = imu.gyro[2];
+    out->gx = imu.gyro[0] * RADIANS_TO_DEGREES;
+    out->gy = imu.gyro[1] * RADIANS_TO_DEGREES;
+    out->gz = imu.gyro[2] * RADIANS_TO_DEGREES;
     out->ax = imu.accel[0];
     out->ay = imu.accel[1];
     out->az = imu.accel[2];
@@ -90,25 +88,25 @@ static int xo_next_sample(device_imu_type* device, struct imu_sample* out, int t
     out->temperature_c = NAN;
 
     // avoid using IMU timestamp, if possible, as it's apparently inconsistent
-    struct timespec ts;
-    if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) {
-        const uint64_t ts_ns = (uint64_t)ts.tv_sec * 1000000000ull + (uint64_t)ts.tv_nsec;
-        if (start_timestamp_ns != 0) {
-            out->timestamp_ns = ts_ns - start_timestamp_ns;
-        } else {
-            start_timestamp_ns = ts_ns;
-            out->timestamp_ns = 0;
-        }
-        if (!time_debug) {
-            printf("[xreal_one] Using system time for IMU timestamps\n");
-        }
-    } else {
+    // struct timespec ts;
+    // if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) {
+    //     const uint64_t ts_ns = (uint64_t)ts.tv_sec * 1000000000ull + (uint64_t)ts.tv_nsec;
+    //     if (start_timestamp_ns != 0) {
+    //         out->timestamp_ns = ts_ns - start_timestamp_ns;
+    //     } else {
+    //         start_timestamp_ns = ts_ns;
+    //         out->timestamp_ns = 0;
+    //     }
+    //     if (!time_debug) {
+    //         printf("[xreal_one] Using system time for IMU timestamps\n");
+    //     }
+    // } else {
         out->timestamp_ns = imu.timestamp * 1000;
 
-        if (!time_debug) {
-            printf("[xreal_one] Using IMU time for IMU timestamps\n");
-        }
-    }
+    //     if (!time_debug) {
+    //         printf("[xreal_one] Using IMU time for IMU timestamps\n");
+    //     }
+    // }
     time_debug = true;
     out->flags = 0;
     return 1;