BNO055 calibration data not reading correctly

[Digisolve]

I'm working thru a calibration issue I have where the SYS CABIB status is always 0 even when the ACC, GYRO & MAG are all 3

Looking closer at the offset data. After a POR everything is 0x00 except MAG radius (regs 0x69 & 0x6A which are 0xE0 & 0x01 resectively) which agrees with the datasheet

I then put the BNO055 into DNOF mode (OPR_MODE = 0xC0).

However, I found if I read the office regs for saving (after putting the BNO055 into CONFIG mode & waiting 30mS)  the MAG_RADIUS regs are 0x00 0x00

So I wrote the following values into the offset & radius reg & read them back to ensure they wrote ok

3 x ACC_OFFSET 0x0001

3 x MAG_OFFSET 0x0002

3 x GYR_OFFSET 0x0003

1 x ACC_RADIUS 0x0004

1 x MAG_RADIUS 0x0500

then put the BNO055 into NDOF mode(OPR_MODE = 0xC0), await  10mS & switch back to CONFIG mode (OPR_MODE = 0x00), await 30mS then read the offset & redius regs back

3 x ACC_OFFSET 0x0001

3 x MAG_OFFSET 0x0002

3 x GYR_OFFSET 0x0003

1 x ACC_RADIUS 0x03E8

1 x MAG_RADIUS 0x0000

the ACC_RADIUS & MAG_RADIUS changed ? I would expect the MAG_RADIUS to be between 144 & 1280 (as stated in the data sheet)

[BSTRobin]

Hi Digisolve,

Did you finish cabliration as you set BNO055 to DNOF mode and read offset & radius registers?

And did you following the following descrition in BNO055 data sheet to read and write profiles?

[Digisolve]

I believe I completed the calibration. I followed the you tube video. for ACC, GYRO & MAG. All four CALIB STAT results were 3. but is ~30 degrees wrong. 

Attached are two pics; one with the BNO055 pointing what it beleives to be North with a compass point the same direction & one with my iPhone pointing in the same direction.

The BNO055 read 0 degrees but the compass & my iPhone read about 26  degrees

(I wish there was a quicker way to Work with Bosch on my problem)

[Digisolve]

Please can I get some feedback. My client is chasing me daily. Thank you

[BSTRobin]

Hi Digisolve，

After you loaded offset & radius and calibration reached to 3. Offset & radius may change because the background calibration algorithm is always running.

For your hardware, it is recommended that you generate a SIC matrix and write it to the sensor.