BNO055 changing mode switching delay

[ankh_morkpork]

Hi!
I am posting this issue again since floating https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-changing-operating-mode/m-p/6197#... didn't seem to cause anything.

What are the absolute requirements for switching time delay. Since datasheet indicates 

From CONFIGMODE    7ms

Any operation mode       19ms

While the driver gives 20ms and 600ms, respectively.

[Jet]

Hi Sir:

      Please refer to the API code, it has been tested and confirmed before released.

     In API there are more delay  because of the sensor power mode change need extra delay inside. The MCU mode change only needs 7 ms and 19 ms as indicate in datasheet. But we still consider how long the physical sensor unit is ready for stable and reliable raw data to be used with bsx algorithm.

     To keep data safe and consider sensor difference, enough delay time should be added.