BNO055 what is the accuracy of heading(Yaw)

Dear Sir / Madam ;

I have a question about bno055 imu sensor , I wish to learn heading(Yaw) accuracy in fusion mode. I checked datasheet there writes about magnometre accuracy, but there is no information about fusion mode.. And the other question , should  we do calibration first  and then use Fusion NDoF Mode with Fast Magnetometer Calibration Off or should we use Sensor Fusion NDoF Mode for best accuracy for heading ? What should we do for achiving best accuracy of heading ?

 

Best Regard,

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