Question BNO085 9DOF aligning reference frame of object rotation in UNITY with Holo2 MRTK. Changing FRS Recrd

BNO085 9DOF aligning reference frame of object rotation in UNITY with Holo2 MRTK. Changing BNO085 FRS record

We are having a specific issue with BNO085 frame of reference calibration / alignment.

We struggle to align reference frame of object rotation in Unity MRTK (HoloLens 2) with the use of BNO085 which returns quaternion. It looks like rotations around X and Z axis are not aligned, while Y axis looks all right.

We are performing right to left hand coordinate conversion by negating Z and W values (Unity requires left hand). To adjust this change we had to create parent object with swapped axis, while having our IMU tracking object being its child and using local rotation.

As the name of the post suggests this does not work. Alignment is off by a huge margin.

When reading the BNO085 documentation (obtained from CEVA, page 40) we came across the ‘FRS record’ - changing which, based on the table from page 41, should allow us to change the frame reference from right hand system to left hand system.

Few questions:

Has anyone dealt with similar problem in their applications?

Can’t seem to find any info how to change the FRS record in BNO and overwrite the 0x2D3E address to change the frame reference. Is this correct way of thinking about it? Otherwise, what is the correct way of applying those transformations from the page 41 of the datasheet?

Any hints or help would be greatly appreciated!

Attached is the documentation for BNO085 IC