Reading of multiple axis from ypr[]change at the same time

[mugenZebra]

When the IMU is rotating around z axis, yaw, roll, pitch change at the same time like from 0 to 180. It's yaw for gyro that changes.
When the IMU is rotating around x axis, only roll changes as it's supposed to like from 0 to 90, and yaw and pitch goes +- 3 degrees. gyro pitch changes.
When the IMU is rotating around y axis and yaw changes from 0 to 90, pitch change by 30 and roll change by 50 degrees. For gyro[], it's pitch that changes.
What is wrong here?

[mugenZebra]

I think I found the error. I was using DMP_FEATURE_LP_QUAT instead of DMP_FEATURE_6X_LP_QUAT. I guess the quaternion formula is only for 6X mode.

[zelante]

Hi. I have the same problem but only on one rotation, two others is ok (from -180 to 180). Using gy9255 (mpu6555 + ak8963). Using DMP_FEATURE_6X_LP_QUAT but problem is not solved... How can i get range -180 to 180 on all three rotation? I guess i must change something in mpu.cpp in function quaternionToEuler.