BNO055 heading wrong after calibration recall

[Digisolve]

Using the BNO055 I find it gives the different heading reading depending on the orientation when I power up.

I'm using NDOF (OPR MODE = 0xC0) & I've calibrated until I get 3 is all the cal status bits (CALIB_STAT = 0xFF). I then save the OFFSET & RADIUS reg to non-volatile ram (regs 0x55 thru to 0x6A). I then power the unit up point in one direction & get (say) 160 degees. I then power off, rotate thru 90 degees & power up again. I then move it back to the original direction & it read 114 degees

I staying in the same place & keeping the pitch & roll very close to 0 degees.

[Digisolve]

Does that mean moving following the calibration process again?

[BSTRobin]

Hi Digisolve，

In fusion mode, the background algorithm will be calibrated automatically. You just need to wait and check whether the calibration status is 3.

[Digisolve]

I was hoping by retrieving the val data would allow immetiate use of the heading data. I will need to see how long the cal status will take to show 3.

[BSTRobin]

Hi Digisolve，

Normally after you load the profile, the calibration status will soon change to 3.

[Digisolve]

ok. I will run this again & this time check for the status, but last time the heading a few minutes to come closer to the correct value