Hi Johannes, BNO055 performs a self-check on startup with uses electric fields to move the MEMS elements and senses the output of the sensor. If the sensor moved due to motion during the self-test in addition, the output is not be as expected and it might fail. I believe this might be your issue. We have a case study using BMF055 as a drone flight controller : https://ae-bst.resource.bosch.com/media/_tech/media/others/Bosch_Sensortec_Drone_Case_Study__28072016.pdf Feel free to build your application based on this case study. From our experience, for quad-copter stabilization control, you need to use a specially tuned sensor fusion algorithm other than the BSX Sensor Fusion library built into BNO055. We found the performance to be better by using a BMF055 (basically same as BNO055, but without Bosh Software) with a dedicated flight controller software.
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