Look here:
https://discourse.agopengps.com/t/cmps14-compass/3300/127
BNO055 3 axis accelero, 3 axis gyro, 3 axis magno, running its ones fusion algorithms to output yaw, pitch, roll angles. But what subject to short term drift. SO it’s why it was use only for heading, not for roll.
MMA : accelerometer, so it can output pitch and roll, but as it’s an accelero, it’s very sensitive to vibration, so output signal was noisy.
BNO08x/CMPS14 : same hardware than BNO055, but with more powerfull algorithm to output really more stable values.
Blockzitat