Hi,
Thanks for your inquiry.
BNO055 6DoF sensor fusion uses accel data and gyro data to output pitch/roll/yaw Euler angles. The magnetometer is turned off or not used. Pitch or roll angle is mainly from the accel for static update while gyro is helping for dynamic update. When the work together BNO055 is able to output accurate and dynamic pitch/roll angles. However, yaw angle is only from gyro data in 6DoF sensor fusion. Rotating at constant speed on yaw should not be a problem. The problem is the rotating speed is too low for example at 1dps or 2dps. Because the gyro noise is about 0.1dps ~ 0.3dps, BNO055 sensor fusion may not be able to update yaw angle all the time. You may consider to use a optical encoder to detect yaw angle.
Thanks.
... View more