How to calculate the angle for raw data of gyro LSM6DSO?

Hi, since the gyro output is an angular rate, you have to integrate this rate in time. I saw online that the typical integration time base is given by 1/ODR; where the ODR is the output data rate. But you have to first reduce the device offset since it would be integrated over time resulting in an increasing error in the angular estimation. You have first also to convert the raw data into angular rate with the conversion formula that you can find for example on GitHub.

float_t lsm6dso_from_fs125_to_mdps(int16_t lsb)
{
 return ((float_t)lsb) * 4.375f;
}