I want to accumulate the delta angle register value every sampling time to get the real angle, but it doesn't work. Then I read the delta angle register and found that even though I rotated it fast, the value was always like 0xFFF8 or even smaller. I calculated the real value as the data sheet said, -8*0.005/2048, and it's definitely wrong. But the gyro values and accl values I read were right. could you told me why?