My previous MEMs system is based on LSM6DS3(+-2000dps scale). According to my experimental data, if I rotated the sensor slowly by hands, the integrated attitude of gyroscope data was quite accurate and acceptable. If I rotated the sensor at 300 DPS, the attitude error might be above 20 degrees in 2 seconds. That's a lot! According to the attitude algorithm, the calculation error won't be larger than 2 degrees per hour. I checked the attitude code once and found nothing wrong. So is the LSM6DS3 capable of this kind of situation which sensor is spinning faster than 300 DPS?