Hi Rob, Thanks for the detailed explanation. I don't currently have a BNO055 with me, but I will test this in the coming days and report back. However as a quick workaround, it seems like your issue is solved if you are not using the built-in axis remapping feature. Usually, when using quaternions, the axis remapping is superfluous, since you can easily multiply quaternions to combine their rotation. You can determine your desired frame of reference as a quaternion (does not have to be orthogonal) and simply multiply the quaternion output from the sensor to get it in your desired frame of reference. o_o
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