How to get yaw angle from IMU 10 dof (GY-86 MPU 6050 and HMC5883l)

[KNguy.11]

I have the imu 10dof and i got raw data of accelerometer, gyroscope and magnetic. And i calculate the roll, pitch, yaw base on equation same in picture. i had calibrate accelerometer and magnetic. in the picture, show the data of magnetic before and after calibrate. But the yaw angle is not linear. I rotate the imu from 0 to 30 degree but yaw data is 0 - 5 degree, rotate the imu from 30 to 60 degree but yaw data is 5 - 15 degree, rotate the imu from 60 to 90 degree but yaw data is 70 - 115 degree.

my english is not good, please help me.

thanks!

[Tesla DeLorean]

Neither of these components are manufactured by ST​

[Eleon BORLINI]

Hi @KNguy.11​ ,

Better to put the the question on Technical Support Portal - Honeywell.

-Eleon