I am using FXOS8700CQ ACC+ mag and FXAS21002 Gyro based FRDM-AGM01 Board, Is there any appnote to interface ACC+Gyro to get exact angle, after this I would be trying to interface magnetometer with these 2 sensors for getting the roll pitch and yaw. I used the sensor fusion toolbox and its library, the data was very precised I wanted to understand and write my own code for interfacing all these 3 sensors. but the raw values had lots of offset wanted to get rid of these offset. is there any appnote for this ? Thanks in advance.