I have been looking at the BMI088 for use in a robot, but it is unclear looking at the documentation whether I can expect the sensor to give me orientation relative to gravity, or relative to some other (perhaps boot) coordinate system. For my application, I need pitch/roll data to be relative to gravity, and within +- 1 degree for both static and dynamic queries. Will the BMI088 be suitable for this? It should be noted that we currently use the BNO080, but found it to be too low precision for our application (+- 3deg accross the fleet). Also, the magnetometer is not needed.
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