Hi, Thanks for your inquiry. Yes, if you enter the MAGONLY or ACCMAG or AMG mode by sending the appropriate I2C command to the BNO 055 then once in such a mode it will act as a normal magnetometer and accelerometer. Sensor fusion is disabled and sensor calibration is also disabled. All you get from BNO055 is the raw data from the mag, accel and gyro. The footnote 5 of page 48 of the datasheet "It is not possible to disable the automatic calibration which runs in the background" is not true, in any meaningful sense, when in a non-NDOF mode like ACCMAG or MAGONLY. It is only true when you enter one of the sensor fusion modes. BNO055 has SIC matrix with default 3x3 identity matrix. If you know the SIC from your robot, then you can enter or input your SIC matrix to BNO055 so that the sensor fusion running inside BNO055 will take care of the soft-iron. Otherwise, BNO055 SIC is not used or it doesn't take any effect. Thanks. ... View more

Hi, Please send a private message to me and let me know your email address, your company name, where you purchased BMI160 parts and how many parts you purchased. Thanks. ... View more

Hi, If you attach a hand compass on top of the robot and look at the needle of the compass, you will see the needle moving left and right when the robot is moving. So you may consider using BNO055 IMU mode without magnetometer. Thanks. ... View more

Hi, Thanks for your inquiry. Please see the attached "How to perform BMI160 self-test v1.2.pdf". If BMI160 gyro doesn't enter normal mode or fails the self-test, then it means that this BMI160 chip is damaged. Please let us know where you are located. Our local FAE will contact you to get the failure parts from you. We will then ship the failure parts to our quality team in Germany to do failure analysis on these parts. Thanks. ... View more

Hi, eCO2 output from BSEC library is derived from IAQ output value. So they are related. If the air from venting contains some other VOCs caused by paint, motor oil, etc., then IAQ will become worse after venting which will cause eCO2 to get worse. If possible, please provide the data log from your tests. Thanks. ... View more