Clarifications on BNO055 and its calibration.

[mrrobles09]

Good day sir alvaro ferran,

As I was strolling your code here for BNO055 I notice that in your set up for "initBNO055", your OPRMode was modified in CONFIGMODE then set your own values like e.g: Ascale = 2g and Abw =ABW_31_25Hz. After that, you set your OPRMode in NDOF Mode at the end of the routine which NDOF Mode is under fusion mode.

Questions:

1. How are you sure that the settled values before proceeding to NDOF Mode is not overwritten by its default sensor configuration?
2. How can you write your own settled offsets gathered in calibration routines and not be overwritten by the sensor in fusion mode?

I've set my calibration before and would like to use this values so that I won't have to recalibrate the sensor every time it is powered on and perhaps use the NDOF feature of BNO055 but this limitations makes my goal hard in getting the navigational position in my project.

Regards,
mrrobles09