On Oct 1, 12:07 pm, DD <[email protected]> wrote:

> get the both at the same time. Therefore, G is decomposed based on the
> values of pitch and roll that are always "out of date"; they are not
> corresponding to the new acclerations. This is where the error comes
> out.


I would say, g is already decomposed by BMA 150 (as it got 3 distinct
sensors, aligned with chip
axes), and  AK8973 has no part in it.

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