Hello thanks for the reply, the ACC em Gyro matrix seems ok with my tests but for the magnetometer BMM150 I can't get the same values as you. your values: struct bhy2_orient_matrix mag_matrix = {0, 1, 0, 0, 0, -1, -1, 0, 0}; my values: struct bhy2_orient_matrix mag_matrix = {0, 0, -1, 0, 1, 0, -1, 0, 0}; I attach one print screen with my results
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