I'm sucessfully reading angular rate from FXAS21002C at 100Hz at FSR 250dps. At the begining I do a simple calibration ( read 100 values, sum them up, divide by 100). I substract this value from the reading and then multiply by sensitivity sepcified in datasheet, in my case it is 0.0078125dps/bit. Next step is a simple trapezoidal integration ((PastReading + AcutialReading)/2.0)0.01. When I rotate gyro by ~90deg I get about 20deg reading.
I could get proper sensitivity value by trial and error method but I think this is not the best scenario
Also I have question regarding to self-test process. Firstly I read some samples from gyro then I set ST bit in CTRL_REG1 and again read from OUT_x_xxx?
This reading gives me const value of 8191 on all axis.