Remapping / Quaternions on BHI160 Sensor Hub Arduino library

[RP-Engineering]

Hi,

I´m currently working with the BHI160B + BMM150 and the Sensor Hub Arduino library (https://github.com/BoschSensortec/BoschSensorHub).

Orientation angles work fine so far.

1. Is it possible to remap the axes of the sensor with this library? (...and how?)
2. Is it possible to get the quaternions with this library? (...and how?)

Thank you.

[BSTRobin]

Hi RP-Engineering,

1. As you used BHI160B + BMM150, what is the placement on PCB board?
2. BHI160 drviver code support to output quaternions, see it from parseBufferQuaternion() function in https://github.com/BoschSensortec/BoschSensorHub/blob/master/src/bhy.cpp