Electronics / IMU sensors expert needed for project

About me:
I'm self-taught, with intermediate-ish knowledge of electronics and microcontroller programming.

About you:
You have experience working with mems IMUs and microcontrollers such as Arduino/Espressif.
You have an understanding of how to manipulate the data from an IMU or gyroscope sensor to best fit the needs of a project, e.g. the appropriate BW, range, smoothing, etc.
You know how to update register values of a sensor and have experience with calibration and sensor fusion algorithms.
You have probably used various different sensors and can share advice about selecting between them.
If you have experience transferring a project from discrete components into a PCB, that's icing on the cake.

About the task:
I am using a BNO055 sensor with a ESP32 development board to control my mouse cursor. I'm able to get data from the sensor as angular velocity, or in quaternions and use that to control the cursor movement on screen. I'm looking to improve the accuracy of this, and to address some orientation limitations as well as any advice on how to make the project better.

Project resources:
These sample sketches should hopefully illustrate what I've done so far and give you a sense of my skill level.

What help I need / next steps:
I'm looking for someone who is willing to assist me on a consultant basis, i.e. advise me on how to overcome the challenges I'm having and to offer guidance on how to improve the project. This could be over the phone/Skype, or even emails if appropriate.

For example, some of the things I'm struggling with at the moment:
-why is the angular velocity derived from absolute orientation using all 3 sensors less accurate than using gyroscope only
-or, how to mix gyroscope output with a gravity vector to adjust for roll axis rotation distorting yaw and pitch readings
-choosing the optimal BW and range settings for the sensor (if in non-fusion mode)
-updating register values of the sensor

In terms of payment, we could agree an hourly rate or a per task rate, if that seems more suitable.

Thank you for your time. I'm really looking forward to working with you.

also here

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