We are performing some tests on the BHI260AP shuttle board and driving it using the provided driver on GitHub repo on our custom MCU board: https://github.com/BoschSensortec/BHY2-Sensor-API In our application we require to mount the sensor vertically; however, using the available remapping function for physical acc/gyro sensors as follows: orient_matrix.c = 0; orient_matrix.c = -1; orient_matrix.c = 0; orient_matrix.c = 0; orient_matrix.c = 0; orient_matrix.c = -1; orient_matrix.c = 1; orient_matrix.c = 0; orient_matrix.c = 0; rslt += bhy2_set_orientation_matrix(1, orient_matrix, &bhy2); rslt += bhy2_set_orientation_matrix(3, orient_matrix, &bhy2); leads to incorrect values for virtual sensors: BHY2_SENSOR_ID_ACC, BHY2_SENSOR_ID_GYRO, and BHY2_SENSOR_ID_GAMERV. It passes those two functions without error though. Mounting the sensor in either of the 8 orientations shown in Figure 35 of the datasheet provides expected values. Hence, I was wondering if our vertical axes remapping was wrong or if vertical mounting is not possible with this sensor at all !!!!
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