How to obtain absolute orientation?

[PatrickVibild]

Hi.

Being struggling with bno055 to obtain an absolute orientation from it.

I notice that even when the sensor is set ut in NDOF mode there is no fusion on the orientation.

import adafruit_bno055
import busio
import board
import time


class IMU:
  def __init__(self):
    self.i2c = busio.I2C(board.SCL, board.SDA)
    self.imu_sensor = adafruit_bno055.BNO055_I2C(self.i2c)
    self.imu_sensor.mode = adafruit_bno055.NDOF_MODE

  def get_data(self):
    return self.imu_sensor.quaternion, self.imu_sensor.euler

  def calibrated(self):
    return self.imu_sensor.calibrated, self.imu_sensor.calibration_status

if __name__ == '__main__':
  imu = IMU()
  while True:
    q, e = imu.get_data()
    print(q)
    print(e)
    time.sleep(1)

How can I obtain an absolute orientation of the sensor? Do I have to use magnetometer and euler at the same time?