Hi, BNO055 has BSX3 sensor fusion algorithm running inside, where BHI260AP BSX4 newer version. So I would like to recommend BHI260AP + BMM150 rather than BNO055 for your application. In addition, BNO055 has max ODR of 100Hz and fixed in SW, where BHI260AP can output sensor fusion results such as Euler angles, quaternions, linear acceleration and gravity vector up to 800Hz and it is programmable with the SDK. BSX3 and BSX4 sensor fusion algorithms can auto-calibrate BMM150 mag with Figure-8 motions in 3D space. If BMM150 doesn't rotate, then it is not possible to calibrate it. As long as the object is rotating, BMM150 will be auto-calibrated. The stillness of the object can help calibrate gyro offsets. Thanks. ... View more

Hi, Thanks for your inquiry. On page 100 of BNO055 datasheet it says "BNO055 I2C interface uses clock stretching". So please check if your M4 board supports I2C clock stretching or not. BNO055 values will not freeze internally. The quaternions always update at 100Hz and the values are available in the data registers for read.  Thanks. ... View more

Hi, Thanks for your inquiry. It is true that BMI088 + BMM150 is a good combination for glider application. But you need to either develop or adopt 9DoF sensor fusion algorithm to obtain responsive and accurate Euler angles or rotation vector. You may consider using BNO055 that has 9-axis sensors, Atmel MCU and BSX sensor fusion algorithm running inside. On page 33 of BNO055 datasheet at https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf you will find the sensor sampling rate and sensor fusion output rate. For example, when BNO055 is operating at 9DoF sensor fusion mode the accel and gyro are sampling at 100Hz, while the mag is at 20Hz. The sensor fusion output rate is 100Hz. This means that, (1) When the object is rotating or turning, gyro takes the lead to quickly update the Euler angles at 100Hz dynamically. (2) When the object stops rotating for example moving straight, the accel and mag will take the lead for Euler angles output and compensate gyro bias drift. (3) In order to get accurate heading angle, the mag needs to be auto-calibrated all the time so that the mag x/y/z data are always located at the surface of the sphere whose origin is at (0, 0, 0) centered. Another option is to use BHI260AP + BMM150. You can directly get sensor fusion outputs and the mag is auto-calibrated in real time. Thanks. ... View more