As for the BMI088, what is the acc/gyro bias repeatability? gyro g-sensitivity and g^2-sensitivity ?
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Maybe you could get the bias value from ticket BMI088-Bias-Instability-and-Alignment-errors-not-specified-in .
If you need more details, please contact your local FAE or distributor to get more support, link as https://www.bosch-sensortec.com/about-us/contact/ .