According to the datasheet, in-run bias does not exceed 6 degrees in hour,
but I get approximatelly 240 degrees in hour.
The following IMU's registers are configured:
CONFIG = 0x00c0
DEC_RATE = 0x000a (resulting 224 Hz)
EKF_CNFG = 0x0309
FILTR_BNK_0 = 0x5b6d (all FIRs are enable and bank B is chosen)
FILTR_BNK_1 = 0x0b6d (-//-)
I read from the IMU at about 230 Hz.
Also, the IMU starts (more than 2 seconds) stationary (no vibration).
I check PROD_ID and FIRM_REV and they are equal 0x4060 and 0x0202 accordingly (reading works OK).
I had two tests:
a) 10 minutes running stationary
(gyr angles is integrated gyro values divided by reading frequency (230 Hz)).
b) The IMU is restarted and carefully and slowly rotated twice on the X axis by 90 degrees.
I can see that Euler angles also shifted by 10 degrees.
Please see the plots generated in attached archive.