Hi Xeonus: Did you have a try to remap sensor axises and then observe the results? What is your own criterion? How did you know it? Actually according to Euler angle definition, BSX algorithm output these values after remapping sensor axises correctly. So before you get correct orientation values, you should remap your sensor axised based on its pcb placement if it is not P1 placement in the datasheet. And then compare the output results with other device which have the corresponding output, like smartphone with Qsensortest APP.
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