Thank you Christophe for your answer. I have something wrong with my magnetometer. I tried to perform another calibration, without more success. I'm surprised that, even the raw values: - When the frame X points to the north, pitch down 60°, Z is high instead of X.
- When the frame Y points to the same direction, X is high instead of Y - When I point Z, Y is high instead of Z.
It seems that my magnetometer is oriented ZXY instead of XYZ. It's not a problem of IMU orientation versus frame orientation because my accelerometer and gyrometer values are OK.
I'm using an aspirin on the Lisa M board. Is the magnetomer oriented diferently than accelerometer on this board? - If yes, are there parameter to define magometer orientation? - If no, is there something wrong with my Lisa/M