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While you perform the calibration movement,  did you see the heading value change?   Did you see this on another BNO055 sensor as well?  ... View more

BNOinUSBStick_Vx.x.fwu3 is the FW for USB stick not the FW for BNO055.    I attached BNO055 formal FW here.  You can get BNO055 shuttle boards,  then update FW via DD2.0,  then resolder on your own boards.  ... View more

We need to consider the magnetic disturbence here.   Different position might have different magnetic disturbence existing.  so the BNO055 output will be affected since the heading value was impacted by the magnetic sensor data as well.   Better to take both game rotation and rotation output and calculate the angles to see if there is any deviation here which caused by magnetic sensor.    ... View more

Yes,  the latest datasheet fixed some issues on the recommend pin connection.  Please always follow the recomondation from the latest datasheet.  For your issues:  1. pin 10 as debug pin and output to indicator if bootloader mode was entered or not.  If sensor enter the bootloader mode,  it will driven to high.  Since your nBOOT_LOAD_PIN is always high means you didn't enter bootloader mode,  it could be no issue for you so far.   2. pin 15 and 16 are now recommended to be DNC.  The reason is if you connect them to GND,  you will see extra current consumption from sensor.   There is no function impact while connect those two pins to GND.   But if you care about the system power consumption,  you need to change the connection of those two pins to DNC.  ... View more