3D kompass. Rechnung

[Spacecam]

Hallo RN,
ich lese so meinen 3D Kompass aus:


#!/usr/bin/env python3
import time
import random
import smbus
import math
import serial


while True:
mitte = 0
bus.write_byte_data(address,0,80)
bus.write_byte_data(address,1,32)

bus.write_byte_data(address,2,1)
time.sleep(0.01)
x = y = z = 1.0
x = y = z = 1.0
x1=bus.read_byte_data(address,3)
x2=bus.read_byte_data(address,4)
z1=bus.read_byte_data(address,5)
z2=bus.read_byte_data(address,6)
y1=bus.read_byte_data(address,7)
y2=bus.read_byte_data(address,8)



Jetzt möchte ich den Winkel nach Norden ausrechnen. Kann mir wer helfen :/
Ich würde nun gerne den Winkel unabhängig von der Neigung des Modules berechnen.
LG
Versuch 1:


#!/usr/bin/env python3
import time
import random
import smbus
import math
import serial

bus = smbus.SMBus(1)
address = 0x1e
while True:
mitte = 0
bus.write_byte_data(address,0,80)
bus.write_byte_data(address,1,32)

bus.write_byte_data(address,2,1)
time.sleep(0.01)
x = y = z = 1.0
x = y = z = 1.0
x1=bus.read_byte_data(address,3)
x2=bus.read_byte_data(address,4)
x=x1*256.0+x2

if x>32767:
x-=65536
z1=bus.read_byte_data(address,5)
z2=bus.read_byte_data(address,6)
z=z1*256.0+z2

if z>32767:
z-=65536
y1=bus.read_byte_data(address,7)
y2=bus.read_byte_data(address,8)
y=y1*256.0+y2

if y>32767:
y-=65536


#print"teyt",x,y,z
ang = 180+round(math.atan2(x, y)*(180/math.pi),0)

print"winkel",ang



bringt allerdings nur werte bis 270grad...kann mir wer helfen?