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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

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1) pin 10 in the lastest datasheet of BNO055 was clearly indicated as Bootloader indicator pin and recommend to be DNC.    it is one output debug pin and will be driving to high when you enter special bootloader mode.   So,  in your design,  leave to NC has no any problem.  2) We didn't met such issue before.  From the given procedure,  i didn't found any abnormal.  If sensor set reset during reading data phase all the time,  i suggest you to check the VDD / VDDIO line during sensor working first.  In general,  there are 3 ways to reset BNO055          a.  soft reset by set RST_SYS bit into SYS_TRIGGER register          b.  Use the reset pin to reset sensor           c.  POR (power on reset) For normal data streaming stage,  sensor should working continuously without reset.   Since you didn't set reset command and didn't trigger reset pin,  the only suspection now is the VDD / VDDIO line.   ... View more

Did you calibrated sensor and achieve the calibration level 3?   Under NDoF mode,  after fully calibrated,  BNO055 heading output should point to North.    Suggest here is every time turn on the sensor,  you need perform calibration movement or load the calibration parameters from last time while achieve calibration level 3.     ... View more