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.
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