Hello, how can i calculate the Yaw angle using LSM6DS0 gyroscope and accelerometer, i tried many ways but still couldn't figure it out, could someone please help me or maybe recommend me a project example or a document that can help me, thank you.

[NAsma.1]

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[KnarfB]

https://robotics.stackexchange.com/questions/4677/how-to-estimate-yaw-angle-from-tri-axis-accelerometer-and-gyroscope

[NAsma.1]

thank you,