Reply To: Drift Yaw Angle

[Alejandro]

Thank you Caleb for answer me so fast,

I just fixed the problem. I calibrate the Magnetometers (0xB0), accelerometers (0xAF) , reset the kalman filter (0xAD) and calibrate the gyro (0xAC) before to start the main function (loop). Additionally, I set a function that takes the first values (angles, rates) and then set them like offset (respectively) when the measurement is taken directly from the sensor (without the Euler/Rate factor; 1/91 , 1/16). Then, I reassure that is calibrated.

I have been working since then and is really stable.

I share how I solved in case someone else have the same problem.