MotionDI_update result is abnormal at special angles

[which]

We use STM32F103RG to driver ism330dhcx, and use MotionDI to calculate the pitch and roll angle.
Parameters:
Frequency: 100Hz
Scale: accelero =2
gyro = 250
AccKnod Caltype:OneTime
GyrKnod CalType:Continuous
SFKnod output type: ENU

When the object roll angle is close to 90°, MotionDI calculate value is 150°。When the the object roll angle is less than 84°，MotionDI calculate value is normal。How to solve this problem?

[Miroslav BATEK]

Hello @which,

the roll should be in range <-90°, +90°>. Could you please share log of input data which you send to the MotionDI library and library configuration if it is different then default?