BNO070 and BNO080 are parts that are programmed, sold, and supported by Hillcrest Labs. Please refer to Hillcrest for support for these products.
For your BNO055 question, the algorithm does not expect the device to be constantly in motion. Some of the compensation is disabled until the device is stable again. But in your case, you mention there is drift in the compass mode, which is unexpected so me, since the magnetometer calibrator requires motion.
Are you able to capture a datalog with raw magnetometer and accelerometer data ? We can analyze the log to see if it is expected or not.
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