I'm using the BNO 055 in NDOF mode, and it has a good heading reading... until it's mag calibration level reaches 2 or 3. Calibration level 0 and 1, it's totally fine.
When calibration is 0 or 1, the heading is dead accurate and very fast, when calibration is 2 or 3, the heading is a little sluggish, then wanders up a degree or two for about 2 seconds.
This issue also doesn't happen outside of the fusion modes. When the mag is calibrated, the heading is accurate in non-fusion modes.
It's literally perfectly fine until the moment magnetometer calibration reaches 2.
What's causing this? I'm certain it's something firmware/hardware related, because I've ruled everything else out. It also happens on other BNO 055s from different suppliers (including Adafruit).
