Hello team,
First of all, thank you for your products. We have been using the BNO055 sensor in NDOF operating mode to get the absolute orientation of the sensor. I believe that this fusion mode combines magnetometer measurements along with the other sensor measurements to obtain the yaw/heading estimates of the sensor.
We would like to understand how the disturbances in the magnetometer measurements due to indoor magnetic fields are compensated during the heading/yaw angle estimation. Mainly, is there any underlying logic that understands when not to use the magnetometer measurements for the yaw estimation and instead uses some fallback mechanisms in its place? It would be great if you provide us with some pointers or reference documentation from your knowledge base.
Thank you in advace.