Seeed XIAO BLE nRF52840 Sense giving bad gyroscope data

[PJ_Glasso]

@cam

void setMotionInterrupt(LSM6DS3 & imu) Sets the configuration registers
imu.writeRegister(0x10, 0x60); CTRL1_XL Linear acceleration sensor control register
imu.writeRegister(0x58, 0x90); TAP_CFG TS & tap recognition functions configuration register
imu.writeRegister(0x5C, 0x00); WAKE_UP_DUR Ffall, WU, functions duration setting register
imu.writeRegister(0x5B, 0xD); WAKE_UP_THS Tap function threshold register (r/w)
imu.writeRegister(0x5E, 0x20); MD1_CFG Functions routing on INT1 register
}

Notes from the Data Sheet… FYI 1LSb = 70 mdps at ±2000 dps full scale.

1. Typical specifications are not guaranteed.
2. Measurements are performed in a uniform temperature setup.
3. Values after soldering.
4. RND (rate noise density) mode is independent of the ODR and FS setting.
5. Gyro noise RMS is independent of the ODR and FS setting.
6. Noise density in HP mode is the same for all ODRs

Good Stuff,
HTH
GL PJ
try this also. Does it give the proper orientation output?

Xiao nRF52840 Sense IMU Parked demo With SLEEP Interrupt button

PARK_IMU_DEMO [Xiao nRF52840 Sense IMU Parked demo With SLEEP Interrupt button.] Displays Parked message after NO movement(6 seconds) from Gyro or Accelerometer over (sensitivity settings) Displays orientation. Push button on the Xiao expansion board fires Interrupt from pin state and continuously check if the IMU orientation deviates from its parked orientation, or if motion is present and takes action if necessary, beep & Display orientation. It goes to sleep after three(3) but…