Hi,
BMX160 is a 9-axis sensor which can only output sensor raw data. this means that you can only get measurements of accel in the unit of g or m/s^2, gyro in the unit of dps or radian per second and mag in the unit of uT.
BNO055 (12mA current consumption) and BHI260AB + BMM150 (2mA current consumption) are smart sensors and have Bosch sensor fusion algorithm and sensor auto-calibration algorithm built-in to directly output Euler angles in the unit of degrees. So it is not possible to compare BMX160 against smart sensors.
For your wheelchair application I would like to recommend 6DoF sensor fusion without using the mag. This is because there are a lot of metal materials in the wheelchair and the motor is spinning. The mag measurements will get disturbed all the time. In addition, it is not possible to lift the wheelchair and rotate it in 3D space to calibrate the mag.
Therefore, if you use BNO055 or BHI260AB 6DoF sensor fusion, then you can get pitch/roll/yaw angles outputs directly. Because there is always gravity measurements from the accel, the errors of pitch and roll angles outputs will not increase over time. But for yaw angle the error will grow over time because there are no mag measurements to help. So you may need to find another way in wheelchair to measure the yaw angle.
After the sensor is soldered on PCB and the PCB is installed in a casing, sensor axes will be invisible. You only know the X/Y/Z body axes of the wheelchair. Axis remapping is helpful when you want to align sensor axes to wheelchair body axes for sensor fusion.
Yaw angle is always needed to tell how the wheelchair is turning left and right. You cannot use axis remapping to avoid yaw angle.
If you use BNO055 or BHI260AB, then your processor doesn't need to take care of sensor calibration and sensor fusion. It can focus on other tasks.
Hope it helps.
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