Your Data sheets show different figures for the Mag sensor in the RI and ZA part.
RI suggests +/- 400,000nT and 30nT resolution (my guess perhaps 15/16bit ADC)
ZA suggests +/-800,000nT and 500nT resolution (My guess perhaps 12 bit ADC)
Is this correct (That the ZI has better resolution) - or does that represent 'old' hardware designs?
I'm interested in the raw performance of the Mag sensor - as I would like to make use of the mag data separately, in addition to the solution for attitude. (I will probably not use the Mag as part of the attitude computation)
Is it possible for you give me some kind of indication of Mag X/Y/Z zero offsets, and relative scale errors, (and maybe orthogonality of axes?).