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Yaw angle is not smooth - Sensorhub booster pack

I run the sample code comp_dcm for sensorhub and tiva c. I see that Roll and Pitch are smooth, but the yaw angles is not so smooth. 

For this sample project, the sampling rate for Gyroscope and accelerometer is 1kHz, how about magnetometer?

How can we make the  yaw angle be smoother?

Thanks