3D kompass. Rechnung

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

Code:

---

#!/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)

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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:

Code:

---

#!/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

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