Good advice on farms. I do live on a farm, so somewhat familiar with mud! Many of the worst problems are caused by moving 20ton tractors around IMHO, one of the problems small scale ag robotics may help with.

Will check out your Bno055 currently using the upstream one in Lizard

https://github.com/zauberzeug/lizard/blob/main/main/modules/... https://github.com/zauberzeug/lizard/blob/main/main/modules/...

Any review of that welcome too of course.