diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 52d68b4..0ef938f 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -55,9 +55,9 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
         imu->temperature = seg.temperature / 326.8f + 25;
 
         if (imu->flag == 1) {
-          imu->accel[0] = seg.aceel_or_gyro[0] * 1.f * accel_range / 0x10000;
-          imu->accel[1] = seg.aceel_or_gyro[1] * 1.f * accel_range / 0x10000;
-          imu->accel[2] = seg.aceel_or_gyro[2] * 1.f * accel_range / 0x10000;
+          imu->accel[0] = seg.accel_or_gyro[0] * 1.f * accel_range / 0x10000;
+          imu->accel[1] = seg.accel_or_gyro[1] * 1.f * accel_range / 0x10000;
+          imu->accel[2] = seg.accel_or_gyro[2] * 1.f * accel_range / 0x10000;
           imu->gyro[0] = 0;
           imu->gyro[1] = 0;
           imu->gyro[2] = 0;
@@ -65,9 +65,9 @@ void Motions::SetMotionCallback(motion_callback_t callback) {
           imu->accel[0] = 0;
           imu->accel[1] = 0;
           imu->accel[2] = 0;
-          imu->gyro[0] = seg.aceel_or_gyro[0] * 1.f * gyro_range / 0x10000;
-          imu->gyro[1] = seg.aceel_or_gyro[1] * 1.f * gyro_range / 0x10000;
-          imu->gyro[2] = seg.aceel_or_gyro[2] * 1.f * gyro_range / 0x10000;
+          imu->gyro[0] = seg.accel_or_gyro[0] * 1.f * gyro_range / 0x10000;
+          imu->gyro[1] = seg.accel_or_gyro[1] * 1.f * gyro_range / 0x10000;
+          imu->gyro[2] = seg.accel_or_gyro[2] * 1.f * gyro_range / 0x10000;
         } else {
           imu->Reset();
         }
diff --git a/src/internal/types.h b/src/internal/types.h
index a34f1ad..d63f6b9 100644
--- a/src/internal/types.h
+++ b/src/internal/types.h
@@ -208,7 +208,7 @@ struct ImuSegment {
   std::uint64_t timestamp;
   std::uint8_t flag;
   std::int16_t temperature;
-  std::int16_t aceel_or_gyro[3];
+  std::int16_t accel_or_gyro[3];
 
   ImuSegment() = default;
   explicit ImuSegment(std::uint8_t *data) {
@@ -228,9 +228,9 @@ struct ImuSegment {
     timestamp = (static_cast<std::uint64_t>(timestamp_h) << 32) | timestamp_l;
     flag = *(data + 12);
     temperature = (*(data + 13) << 8) | *(data + 14);
-    aceel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
-    aceel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
-    aceel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
+    accel_or_gyro[0] = (*(data + 15) << 8) | *(data + 16);
+    accel_or_gyro[1] = (*(data + 17) << 8) | *(data + 18);
+    accel_or_gyro[2] = (*(data + 19) << 8) | *(data + 20);
   }
 };
 #pragma pack(pop)