I want to leave you some tips for properly using the 6dof v4
I have a working full imu implemtation. quaternions, kalman filtering, euler angles, magnetic angle correction, direct cosine matrix, and all
so it is possible!
I worked months to get it all right, and i am not ready to give it all away, sorry.
anyway one very important thing to get something useful from the magnetic sensors is:
- you have to change all 5.1kOhm (6 resistors) to 274Ohm on the sensor board.
If you use the board close to heavy metal, maybe 300Ohm is better.
(you have to amplify the shit out of them 
)
- there is a demagnetise pulse on the sensors. call it once in a while, but NOT everytime. it makes the sensors noisy.
Accelerometer noise is much more, but if you don’t need noise, dont do it 
- if you see the sensor readings jump to other values after demagnetising every time (even if you dont move de board).
then resolder/reheat the amplifier pins and maybe even the magnetometer pins.
there are millivolts going over it, and its very hard to get it right.
- I don’t use the bluetooth on the board, in this forum I read bluetooth makes the magnetometers noisy, but
I have tested some bluetooth devices near it. and I have no problems at all with noise (after resoldering and all (3))