Hi Rohi, Regarding the soft-reset and crystal issue: There is a known issue due to the absent or damaged crystal connected to the microcontroller. This is documented by the microcontroller manufacturer at http://ww1.microchip.com/downloads/en/DeviceDoc/80000747B.pdf in chapter 1.5.7. We will in time publish a new BNO055 firmware that fixes this issue, but for the time being we do not recommend using the reset. In case you want to reconfigure the BNO055 to known register values without a power cycle, I recommend that you write to each register the value of your configuration instead of performing a reset. With regards to axis remapping, this is not an expected behavior. Could you please provide steps to reproduce the issue? Potentially also capture a datalog using a logic analyzer. o_o
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