Roll pitch error when the sensor is rotated 360 degrees of yaw

[幸西原.1]

Hello.

I am using lsm6dsl to find the angle.

When I turn the yaw rotation 360 degrees at that time, I have an error on the roll and pitch.

Now, based on the angle (XY) determined by the accelerometer, I am trying to determine

We are trying to find the angle by finding XYZ of the gyro sensor in the rotation matrix and adding the angular velocity of the gyro sensor.

At that time, if I turn only the yaw side (Z) 360 degrees, I expect to get the same values for roll and pitch at 360 degrees from 0 degrees, but they will be off by tens of degrees.

Is there any problem in the calculation method?

Thank you for your help.

[Eleon BORLINI]

Hi @幸伸 西原​ , please check if this thread (LINK) on a similar topic can be of any help for you. Regards