BHI260AB Rotation Vector curve discontinuity

Hi,

I was doing tests with my Application Board and a BHI160 Shuttle board.

I'm running the Development Desktop application and reading both the Game Rotation Vector and the Rotation Vector simultaneously, and drawing the w,x,y, and x curves for each of them in real-time.

At the beginning of the test all seem to be pretty normal, both virtual sensors present the same curves. But at some point the Rotation Vector presents a discontinuity. From that moment onwards the Rotation Vector curves are different from the Game Rotation Vector curves.

See below picture for having a clearer understanding:

Rotation Vector VS Game Rotation Vector.png

Rotation Vector VS Game Rotation Vector ZOOM.png

I have a custom board with a BHI260AB on it and it's presenting the same behavior.

I recently added a BMM150 magnetometer to my board and wanted to change from using the Game Rotation Vector to the Rotation Vector for better accuracy. But unfortunately, I'm having that strange behavior of the Rotation Vector.

Could you please help me to understand what's happening and to find a way for solving the issue?

Thanks!