Hello everyone! I try to read gyro raw data from l3gd20 embedded the the stm32f3discovery board. However, the data is quite wierd, they don't approach to 0 at all. Can anyone tell me what is the problem?

[rtoto.1]

HAL_Delay(300);

BSP_GYRO_GetXYZ(gyro_xyz);

Using BSP library (https://github.com/STMicroelectronics/STM32CubeF3/tree/master/Drivers/BSP/STM32F3-Discovery).

data as below:

D: gyro_xyz[0] gyro_xyz[2] gyro_xyz[1]

D: time(ms) (0x200000a8,6) (0x200000b0,6) (0x200000ac,6)

D: 0.10 52.500000 -280.000000 332.500000

D: 0.93 52.500000 -280.000000 332.500000

D: 1.69 52.500000 -280.000000 332.500000

D: 2.48 52.500000 -280.000000 332.500000

D: 3.11 52.500000 -280.000000 332.500000

D: 3.74 52.500000 -280.000000 332.500000

D: 4.44 52.500000 -280.000000 332.500000

D: 5.02 52.500000 -280.000000 332.500000

D: 5.60 52.500000 -280.000000 332.500000

D: 6.13 52.500000 -280.000000 332.500000

D: 6.64 52.500000 -280.000000 332.500000

D: 7.18 52.500000 -280.000000 332.500000

[rtoto.1]

PS: below is the curve of gyro data.

[rtoto.1]

Ok, I figure out myself.

GyroX = raw sensor data * sensitivity (mdps/LSB or mdps/digit), here the unit of GyroX is mdps, so the result above looks reasonable. Though, the gyro data still has some drifts sometimes.