Hi Sir: Please see the following comments: 1. ACC/GYRO can be calibration on the assembly line or before installing to the vehicle, You can save these calibration value and load them when starting the BNO,so that can avoid the car engine vibration to affect calibration. But you also should know GYRO accuracy influence will be increased with time change because of GYRO accumulated deviation, so after running for some time, GYRO need be calibrated by the static condition with no vibration or the dynamic calibartion with Mag compensation. If keep a vehicle that has the engine running, GYRO is not able to complete this calibration without the static condition. The dynamic calibration don't be completed as well if Mag sensor interference is involved. 2. Yes, you can choose the IMU mode, but you also need to consider how to calibrate Gyro after a certain period of time, just like what I said above..
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