Thanks for your inquiry.
Please use BNO055 IMU 6DoF sensor fusion mode instead of 9DoF mode, because it is not possible to calibrate the magnetometer when BNO055 is installed in vehicle. Usually we need to rotate the device randomly in 3D space to calibrate the magnetometer and the vehicle can not be rotated in 3D space. In addition, the vehicle has a lot of metal material that will generate magnetic interference fields so that the 9DoF sensor fusion mode will not be working properly.
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