Plot for AHRS would be more readable if zoomed in to the relevant region
I would like to suggest scaling the y axis in the compass plots differently so that outliers dont dominate the range of angels being displayed. This way, in the pitch and roll plots for example, one cant see much. especially when there is movement: it only really is viable in the yaw. Maybe the y-axis scaling is based on 80% of the entries or so? like: get the y-ranges of the mean +/- 80% around it. Cause its only few outliers of far away values.