according to this table, for roll angle does the margin of error increase by 0.05 at every degree ?
| | Customer | freescale | |
| Gyro Specifications | Range | ±2000 °/s | ±2000 °/s | FXAS21002 |
| | In-Run Bias Stability | < 10 °/hr | | |
| | Linearity | < 0.1 % FS | ±0.5 %FSR | |
| | Noise Density | 0.0035 °/s / Hz | 0.025 dps/√Hz | |
| | Bandwidth | 256 Hz | 256 Hz | |
| | Alignment Error | ±0.05 ° | | |
| Accelerometer Specifications | Range | ±16 g | ±8 | FXOS8700 |
| | In-Run Bias Stability | < 0.04 mg | | |
| | Linearity | < 0.5 % FS | ±0.5 %FS | |
| | Noise Density | 0.14 mg/ Hz | <126 μg/√Hz | |
| | Bandwidth | 260 Hz | 200 Hz | |
| | Alignment Error | ±0.05 ° | | |
| Magnetometer Specifications | Range | ±2.5 Gauss | ±1200 uT | FXOS8700 |
| | Linearity | < 0.1 % | ±1 % %FS | |
| | Noise Density | 140 μGauss/ Hz | < 100 nT/√Hz | |
| | Bandwidth | 200 Hz | 200 Hz | |
| | Alignment Error | ±0.05 ° | | |
| Pressure Sensor Specifications | Range | 10 to 1200 mbar | 50 to 110 kPa | MPL3115 |
| | Resolution | 0.042 mbar | 1.5 Pa | |
| | Accuracy | ±1.5 mbar | ±0.4 kPa | |
| | Error Band | ±2.5 mbar | | |
| | Bandwidth | 200 Hz | | |
| | | | | |
| Attitude & Heading | Range (Heading/Roll) | ±180 ° | ±180 ° | |
| | Range (Pitch) | ±90 ° | ±90 ° | |
| | "Static Accuracy |
| (Heading, Magnetic)" | 2.0 ° RMS | 1.21° RMS | |
| | "Static Accuracy |
| (Pitch/Roll)" | 0.5 ° RMS | 1.21° RMS | |
| | "Dynamic Accuracy |
| (Heading, Magnetic)" | 2.0 ° RMS | 1.06° RMS | |
| | "Dynamic Accuracy |
| (Pitch/Roll)" | 1.0 ° RMS | 1.06° RMS | |
| | Angular Resolution | < 0.05 ° | | |
| | Repeatability | < 0.2° | | |
| | Output Rate (IMU Data) | 1 kHz | | |
| | Output Rate (Attitude Data) | 400 Hz | | |
| | | | | |
| Individually calibrated for bias, scalefactor, misalignment, & gyro g-sensitivity | Real-time magnetic & acceleration disturbance rejection | Support | | |
| | Adaptive signal filtering | Support | | |
| | Dynamic filter tuning | Support | | |
| | On-board Hard & Soft Iron compensation | Support | Support | |
| | On-board gyro drift compensation | Support | |