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Hi BSTRobin, In effect, we need to remaping the orientation of bhi260 and ak09915. I think I must build the firmware myself. does the i2c aux interface is selected like this? sif_cfg,1 #Physical Drivers #DriverID,Bus,Addr,GPIO,Cal0,Cal1,Cal2,Cal3,Cal4,Cal5,Cal6,Cal7,Cal8,Off0,Off1,Off2,maxRate,Range 12,i2c0,12,-, 0,-1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 200.000000, 0 #AK09915Mag   Thanks   ... View more

Hello BSTRobin, This is exactly what we understood. And we nned to do the Soft Iron for each of our product. So the question is how can we generate the SIC matrix. We know how to collect bmm150 data and we the formular to get the soft iron matrix, in gerneral a 3x3 matrix in float.  But how can we convert our soft iron matrix to a format that BSX understood?  ... View more

Hello BSTRobin, Thanks for the replay, We have read this note and found those functions in the driver. But could you confirm that the bhi260AP/AB firmware takes care of both HARD iron and SOFT iron calibration? We did not find this information in the datasheet. Another sensor like BNO055 from Bosch takes care only of hard iron calibration and we must load a soft iron matrix into the sensor. This is why we think the SIC matrix should be sent to BHI260AP/AB. Moreover, we have found these CSV files in bhi260ap/ab sdk, which contain the sic matrix for different boards and phones. The value in the fies "bsx4configSerialization_SENSORHUB_SIC_BMM150_SHUTTLE_BHI260.csv" is exactly what we read from the sensor using "bhy2_get_sic_matrix()". So we think the sic matrix should be generated by ourself for each device, then loaded into the BHI260. Please give us more information regarding the soft/hard iron calibration of magnetometer.   Thanks for your help ... View more