MPU6500, the sensor can obtain the right hand at 500 hz frequency known department xyz three direction of the acceleration ax, ay, az and angular velocity around the xyz gx, gy, gz, excuse me, when the international development board by the z axis up down (the gravity acceleration along the z axis), and around a rotary Angle of the x axis, please use the sensor output data to calculate the Angle, schematic drawing, indicating the calculation principle,

Seems to be euler Angle,,,