lionfish
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I'm doing exactly the same thing in my project and I asked this question before and the response I got was to soft reset the board, which isn't great because you have to reconnect afterward but it does seem to reset them to the same origin of orient…
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Thanks for the reply, I used the MetaWear iPhone app to soft reset the boards and they're in sync again. The quaternions were stable when the boards aren't moving, and I converted them into Eulars for easier debugging. The values looked good…
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Well follow up, I tried it in Swift and it worked, so I just converted my project.