Look into the adafruit_bno055 library to understand how calibration settings are saved, loaded, and generated on power-up. Implement gyroscope/accelerometer saving and magnetometer calibration. Validate that saving and loading these settings allows for accurate IMU output no matter the physical orientation and acceleration of the ROV.
yameatmeyourdead
commented
3 years ago 
Look into the adafruit_bno055 library to understand how calibration settings are saved, loaded, and generated on power-up. Implement gyroscope/accelerometer saving and magnetometer calibration. Validate that saving and loading these settings allows for accurate IMU output no matter the physical orientation and acceleration of the ROV.