Angle Z shifted after rotating many times ,although X & Y were perfect ?

[Elkhawaga]

Angle Z shifted after rotating many times by -40 or 20 or -11 ,...
but X & Y angles didn't effected even when moving fast

you are using coff of Gyro & Acc in Angle X ,Angle Y
but in Z angle you didn't made that , Why?

angleX = (gyroCoef * (angleX + gyroX * interval)) + (accCoef * angleAccX);
angleY = (gyroCoef * (angleY + gyroY * interval)) + (accCoef * angleAccY);
angleZ = angleGyroZ;

thanks alot for your wonderful effort :)

[tockn]

Because we cannot calculate angleZ by using accelerometer, so I use only gyro sensor in calculating angleZ.
If you want to more accurate angleZ, you can use other sensor together. (ex: geomagnetic sensor)

[nhphuong91]

You can find detailed explanation as well as many more useful information here:
https://www.w3.org/TR/motion-sensors/#relative-orientation-sensor