We are using NXP's FXOS8700CQ and FXAS21002C for getting roll, pitch and yaw.

Roll and pitch values are getting right but yaw values not getting right. We are using NXPMotionSense library with Madgwick Filter.
If we move the device on roll side than at the same time yaw is also changing same amount what roll is changing.
For eg roll changes +10 deg than yaw is also changes in same in opposite sign.

Is it right behaviour for yaw changes? I don't know the behaviour. Can someone tell the answer or proof.

@mjs531, @paul Kindly help.