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Took some readings again and this time it was far worse.  x y z 0.09 0.07 0.11 -2.49 -2.54 0.11 -0.22 0.09 0.01 0.06 -2.55 0.09 0.13 0.01 0.09 -2.55 0.01 0.02 0 0.08 0.11 -0.04 -2.49 0.09 -0.02 0 0.12 -0.06 0 2.08 0.2 0.02 0.1 2.51 0 0.1 2.48 2.52 0.1 2.37 2.42 0.08 0.13 2.46 0.17 0.12 -2.53 0.08 -0.06 2.52 0.09 2.53 0 0.12 0.11 2.53 0.12 -0.08 -2.53 0.11 -0.02 2.55 0.11 -2.32 -2.56 0.09 -2.56 2.53 0.12 -2.49 0.08 -2.47 -0.09 2.52 0.12 2.5 -2.51 0.11 0.18 0.05 0.08 -2.48 -2.56 0.08 -0.25 2.51 0.12 0.06 -2.49 0.08 0 -2.43 0.1 0.02 0.03 0.08 2.55 0.02 0.1 -0.07 -2.54 -2.42 -2.42 -2.32 0.1 -0.03 -2.51 0.09 0 -2.54 0.1 -2.54 0.04 0.12 2.5 -0.01 0.1 2.55 0.02 0.08 0.02 -2.56 0.11 0 2.41 0.06 0.07 -0.02 0.11 0.03 -0.03 0.1 -2.52 -2.54 0.13 0 2.54 0.07 -2.56 0 0.04 0.01 0.02 0.09 -2.56 2.5 0.1 2.37 -2.44 0.11 Please help me! ... View more

Not sure what you mean. I'm using NDOF fusion mode.  The linear accerelation that I read from the registers, I store it and divide it by 100.0. Here's my function.  void bno055GetLinearAcc(acc_data *data) { int16_t x, y, z; x = bno055GetData(BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR , BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR); y = bno055GetData(BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR , BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR); z = bno055GetData(BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR , BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR); data->x = ((double)x)/100.0; data->y = ((double)y)/100.0; data->z = ((double)z)/100.0; } Here's what getData looks like:  int16_t bno055GetData(uint8_t msb_reg, uint8_t lsb_reg) { uint8_t msb = bno055ReadReg(msb_reg); delay_ms(50); uint8_t lsb = bno055ReadReg(lsb_reg); delay_ms(50); return (((int16_t)msb << 8) | (int16_t)lsb); } and this is the structure I'm using to store it: typedef struct { double x; double y; double z; } acc_data; What could I be doing wrong? Or is it just noise?  Here are some readings of linear acceleration. You can see 2-3 instances of +/- 2.5: x y z 0.12 0.01 0.05 0.11 0.02 0.02 0.13 0 0.07 0.12 0.01 0.05 0.14 0.01 0.06 0.13 0.02 0.06 0.13 0.02 0.06 0.13 0.02 0.05 0.13 0 0.05 0.12 0.01 0.07 0.13 0.02 0.05 0.11 0 0.06 0.12 0.01 0.04 0.13 0 0.08 0.12 0.02 0.07 0.14 0.03 0.05 0.12 0.02 0.07 0.12 0.01 0.06 0.09 -2.56 0.07 0.07 0.01 0.05 0.08 0 0.06 0.08 0.02 0.07 0.09 0 0.07 0.12 0.02 -2.41 0.06 0 0.08 0.07 0.01 0.07 0.07 0 0.06 0.05 0.02 0.06 0.05 0 0.07 0.03 0.02 0.07 0.11 0.01 0.05 0.11 0 0.07 0.13 0.06 2.44 0.08 0 0.07 0.1 0 0.04 0.07 0 0.06 0.04 0 0.05 0.06 0 0.03 0.07 0 0.04     ... View more

Can I get linear velocity from this sensor? ... View more

kgoveas, Few things. I'm unable to get any response in the Adafruit community so I hope you can help. I appreciate your response. 1. So I need to read the calibrated offset values, store them and then hardcode the registers to those values on bootup? 2. Do I need to check the calibration status register after loading the previous calibration values into the offset registers?  3. I'll be using the BNO055 in a vehicle. What happens when there's a sudden jerk on the module? Does the calibration mess up? If so, how can I recalibrate it without making the 8-figure and stuff since that's not possible once it's put up in a vehicle.  4. To get a tilt-compensated magnetic north from the BNO055, Which mode should I set it to? I'm not sure I understand the difference between the different normal modes and fusion modes. And the difference between Euler and Quaternion values. Which one will be give me a more accurate magnetic north angle?  Once again, really appreciate the help! ... View more