Hi,
Thanks for your inquiry. BNO055 heading should not jump 180degrees from 30->210 in NDOF mode. You may purchase a BNO055 USB stick at https://www.digikey.com/product-detail/en/bosch-sensortec/BNO055-USB-STICK/828-1045-ND/6136288 and download Development Desktop 2.0 GUI SW from https://www.bosch-sensortec.com/software-tools/tools/development-desktop-software/#development_desktop_software to evaluate the BNO055 performance by inputting your axis-remap values to BNO055 registers in the SW.
Thanks.
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