By the way, the previous post was specific to the elevated noise observations. For the apparent 5% scale error in the measurements you are reporting, can you start by reading register locations 0x1C and 0x1E? I would expect them to be zero, but we should start by verifying them. They provide access to an offset correction on the accelerometers, prior to the angle computation. There is probably more going on with this, so I will give this some more thought.
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