SEN0386 accelerometer non-zero X and Y static measurements

Hi, I´m currently trying to build a simple system with the SEN0386 sensor and an Arduino Uno Rev4 Wifi.

My issue is that, using the example code from the "DFRobot_WT62PC" library with a freq of 10Hz, and without moving the sensor, I always get an acceleration value of around 313, sometimes on X axis and sometimes on Y:

Acc      0.05       313.39   9.80

Gyro    0.00        0.00       0.00

Angle  358.92   0.28       331.06

Acc     313.60   313.42   9.80

Gyro   0.00        0.00       0.00

Angle 358.93    0.01      192.99

Z axis acceleration seems to work properly though.

Another issue I´ve found is that whenever I move the sensor, gyroscope values suddenly go up to around 4000:

Acc       313.59    313.43     9.81

Gyro    3999.76   3999.94   0.00

Angle  354.36     359.17      74.60

Acc     305.03     309.87   3.26

Gyro    3.60         11.72     3985.05

Angle  312.79     59.04    2.30

Maybe I don´t understand how the sensor configuration workd, but I can´t seem to find a way to work it out.
 

Here´s the code I´m using:

/*!

 * @brief Set the frequency of data output by the sensor, read the acceleration,

 * @n angular velocity, and angle of X, Y, and Z axes.

 * @n Experimental phenomenon: when the sensor starts, it outputs data at the set frequency and the data will be displayed on serial monitor.

 * @url https://github.com/DFRobot/DFRobot_WT61PC

 */

#include <DFRobot_WT61PC.h>

#include <SoftwareSerial.h>

SoftwareSerial softSerial(/*rx =*/9, /*tx =*/10);

#define FPSerial softSerial

#if (defined(ARDUINO_AVR_UNO) || defined(ESP8266))   // Using a soft serial port

#include <SoftwareSerial.h>

SoftwareSerial softSerial(/*rx =*/10, /*tx =*/11);

#define FPSerial softSerial

#else

#define FPSerial Serial1

#endif

DFRobot_WT61PC sensor(&FPSerial);

void setup()

{

  //Use Serial as debugging serial port

  Serial.begin(115200);

  #if (defined ESP32)

    FPSerial.begin(9600, SERIAL_8N1, /*rx =*/D3, /*tx =*/D2);

  #else

    FPSerial.begin(9600);

  #endif

  /**

   * @brief Revise the data output frequncy of sensor

   * @param frequency - FREQUENCY_0_1HZ for 0.1Hz, FREQUENCY_0_5HZ for 0.5Hz, FREQUENCY_1HZ for 1Hz,

   * @n                 FREQUENCY_2HZ for 2Hz, FREQUENCY_5HZ for 5Hz, FREQUENCY_10HZ for 10Hz,

   * @n                 FREQUENCY_20HZ for 20Hz, FREQUENCY_50HZ for 50Hz, FREQUENCY_100HZ for 100Hz,

   * @n                 FREQUENCY_125HZ for 125Hz, FREQUENCY_200HZ for 200Hz.

   */

  sensor.modifyFrequency(FREQUENCY_10HZ);

}

void loop()

{

  if (sensor.available()) {

    Serial.print("Acc\t"); Serial.print(sensor.Acc.X); Serial.print("\t");

    Serial.print(sensor.Acc.Y); Serial.print("\t"); Serial.println(sensor.Acc.Z); //acceleration information of X,Y,Z

    Serial.print("Gyro\t"); Serial.print(sensor.Gyro.X); Serial.print("\t");

    Serial.print(sensor.Gyro.Y); Serial.print("\t"); Serial.println(sensor.Gyro.Z); //angular velocity information of X,Y,Z

    Serial.print("Angle\t"); Serial.print(sensor.Angle.X); Serial.print("\t");

    Serial.print(sensor.Angle.Y); Serial.print("\t"); Serial.println(sensor.Angle.Z); //angle information of X, Y, Z

    Serial.println();

  }

}