diff --git a/source/BNO08x.cpp b/source/BNO08x.cpp
index 778b372..31fed19 100644
--- a/source/BNO08x.cpp
+++ b/source/BNO08x.cpp
@@ -1980,13 +1980,13 @@ void BNO08x::print_system_orientation()
 }
 
 
-// Converts a 32-bit signed Q30 fixed-point value to float
+// Internal private function, converts a 32-bit signed Q30 fixed-point value to float
 static inline float q30_to_float(int32_t q)
 {
     return ((float)q) / (float)(1UL << 30);
 }
 
-// Converts a float to 32-bit signed Q30 fixed-point value
+// Internal private function, converts a float to 32-bit signed Q30 fixed-point value
 static inline int32_t float_to_q30(float f)
 {
     if (f > 1.0f) f = 1.0f;
@@ -2001,7 +2001,7 @@ static inline int32_t float_to_q30(float f)
  * @note Use SQRT2OVER2 as a constant for sqrt(2)/2
  * @note that a reset is required to apply changes.
  * @note This configuration seems only to work if reports are already enabled. 
- *       e.g. set .rpt.rv.enable(true) prior this call
+ *       e.g. set .rpt.rv.enable(PERIOD) prior this call
  * 
  * @param Qw Real component of mapping quaternion.
  * @param Qx X (i) component of mapping quaternion.
@@ -2039,7 +2039,7 @@ bool BNO08x::get_system_orientation(float& Qw, float& Qx, float& Qy, float& Qz)
     if(!get_frs(BNO08xFrsID::SYSTEM_ORIENTATION, raw, words_rxd))
         return false;
     
-    if(words_rxd >= 4U)
+    if(words_rxd <= 4U)
     {
         // clang-format off
         #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
diff --git a/test/CallbackTests.cpp b/test/CallbackTests.cpp
index b3980c2..ee1ea07 100644
--- a/test/CallbackTests.cpp
+++ b/test/CallbackTests.cpp
@@ -33,7 +33,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
     const constexpr char* TEST_TAG = "Void Input Param Flavor Cb";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -216,7 +216,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
     const constexpr char* TEST_TAG = "Report ID Input Param Flavor Cb";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -408,7 +408,7 @@ TEST_CASE("Single Report Void Input Param Flavor Cb", "[CallbackSingleReportVoid
     const constexpr char* TEST_TAG = "Single Report Void Input Param Flavor Cb";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
diff --git a/test/FeatureTests.cpp b/test/FeatureTests.cpp
index 0c8278a..75ada39 100644
--- a/test/FeatureTests.cpp
+++ b/test/FeatureTests.cpp
@@ -32,7 +32,7 @@ TEST_CASE("Hard Reset", "[FeatureTests]")
     const constexpr char* TEST_TAG = "Hard Reset";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -77,7 +77,7 @@ TEST_CASE("Soft Reset", "[FeatureTests]")
     const constexpr char* TEST_TAG = "Soft Reset";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -122,7 +122,7 @@ TEST_CASE("Sleep", "[FeatureTests]")
     const constexpr char* TEST_TAG = "Sleep";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -176,7 +176,7 @@ TEST_CASE("Get Metadata", "[FeatureTests]")
     const constexpr char* TEST_TAG = "Get Metadata";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -224,12 +224,76 @@ TEST_CASE("Get Metadata", "[FeatureTests]")
     BNO08xTestHelper::print_test_end_banner(TEST_TAG);
 }
 
+TEST_CASE("Set and Get System Orientation", "[FeatureTests]")
+{
+    const constexpr char* TEST_TAG = "Set System Orientation";
+   constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
+    BNO08x* imu = nullptr;
+    imu = BNO08xTestHelper::get_test_imu();
+    char msg_buff[200] = {};
+    float Qw = 1.0f;
+    float Qx = 0.0f;
+    float Qy = 0.0f;
+    float Qz = 0.0f;
+    float epsilon = 0.000001f;
+
+    // 1. enable report as per FlyteSailing's instructions
+    TEST_ASSERT_EQUAL(true, imu->rpt.rv.enable(REPORT_PERIOD));
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    // 2. set the system orientation to a value defined in figure 4-3 of the data sheet (X == West Aligned, Y == West Aligned, Z == Up)
+    sprintf(msg_buff, "Setting orientation to: Qw: %.6f Qx: %.6f Qy: %.6f Qz: %.6f", Qw, Qx, Qy, Qz);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    TEST_ASSERT_EQUAL(true, imu->set_system_orientation(Qw, Qx, Qy, Qz)); 
+
+    // 3. hard reset to apply changes and verify they are persistent within flash
+    TEST_ASSERT_EQUAL(true, imu->hard_reset()); 
+
+    // 4. read back the system orientation frs and verify it contains the orientation we wrote
+    TEST_ASSERT_EQUAL(true, imu->get_system_orientation(Qw, Qx, Qy, Qz)); 
+    sprintf(msg_buff, "Read back orientation: Qw: %.6f Qx: %.6f Qy: %.6f Qz: %.6f", Qw, Qx, Qy, Qz);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    // check that values match expected
+    TEST_ASSERT_EQUAL(true, fabs(1.0 - Qw) < epsilon);
+    TEST_ASSERT_EQUAL(true, fabs(0.0 - Qx) < epsilon);
+    TEST_ASSERT_EQUAL(true, fabs(0.0 - Qy) < epsilon);
+    TEST_ASSERT_EQUAL(true, fabs(0.0 - Qz) < epsilon);
+
+    // 5. reset the system orientation to default (all 0.0f)
+    Qw = 0.0f; 
+    sprintf(msg_buff, "Re-setting orientation to: Qw: %.6f Qx: %.6f Qy: %.6f Qz: %.6f", Qw, Qx, Qy, Qz);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    TEST_ASSERT_EQUAL(true, imu->set_system_orientation(Qw, Qx, Qy, Qz)); 
+
+    // 6. hard reset to apply changes and verify they are persistent within flash
+    TEST_ASSERT_EQUAL(true, imu->hard_reset()); 
+
+    // 7. read back the system orientation frs and verify it has been returned to default 
+    TEST_ASSERT_EQUAL(true, imu->get_system_orientation(Qw, Qx, Qy, Qz)); 
+    sprintf(msg_buff, "Read back orientation after reset: Qw: %.6f Qx: %.6f Qy: %.6f Qz: %.6f", Qw, Qx, Qy, Qz);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    // check that values match expected
+    TEST_ASSERT_EQUAL(true, fabs(0.0 - Qw) < epsilon);
+    TEST_ASSERT_EQUAL(true, fabs(0.0 - Qx) < epsilon);
+    TEST_ASSERT_EQUAL(true, fabs(0.0 - Qy) < epsilon);
+    TEST_ASSERT_EQUAL(true, fabs(0.0 - Qz) < epsilon);
+
+
+    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+    
+
+}
+
+
 TEST_CASE("Get Sample Counts", "[FeatureTests]")
 {
     const constexpr char* TEST_TAG = "Get Sample Counts";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -277,7 +341,7 @@ TEST_CASE("Get Sample Counts", "[FeatureTests]")
 TEST_CASE("Enable Dynamic Calibration", "[FeatureTests]")
 {
     const constexpr char* TEST_TAG = "Enable Dynamic Calibration";
-    static const constexpr uint32_t REPORT_PERIOD = 10000UL; // 10ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
 
diff --git a/test/MultiReportTests.cpp b/test/MultiReportTests.cpp
index 6fb400b..070d69f 100644
--- a/test/MultiReportTests.cpp
+++ b/test/MultiReportTests.cpp
@@ -32,7 +32,7 @@ TEST_CASE("Enable/Disable Dual Report", "[MultiReportEnableDisable]")
     const constexpr char* TEST_TAG = "Enable/Disable Dual Report";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 2;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -90,7 +90,7 @@ TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]")
     const constexpr char* TEST_TAG = "Enable/Disable Quad Report";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 4;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -177,7 +177,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
     const constexpr char* TEST_TAG = "Enable/Disable Octo Report";
     static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
diff --git a/test/SingleReportTests.cpp b/test/SingleReportTests.cpp
index f2d3f2a..1a325a2 100644
--- a/test/SingleReportTests.cpp
+++ b/test/SingleReportTests.cpp
@@ -31,7 +31,7 @@ TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable Incorrect Report";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -71,7 +71,7 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable Accelerometer";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -109,7 +109,7 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable Linear Accelerometer";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -149,7 +149,7 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable Gravity";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -187,7 +187,7 @@ TEST_CASE("Enable/Disable Cal Magnetometer", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable Cal Magnetometer";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -227,7 +227,7 @@ TEST_CASE("Enable/Disable Uncal Magnetometer", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable Uncal Magnetometer";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -269,7 +269,7 @@ TEST_CASE("Enable/Disable Cal Gyro", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable Cal Gyro";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -307,7 +307,7 @@ TEST_CASE("Enable/Disable Uncal Gyro", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable Uncal Gyro";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -349,7 +349,7 @@ TEST_CASE("Enable/Disable RV", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable RV";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -389,7 +389,7 @@ TEST_CASE("Enable/Disable Game RV", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable Game RV";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -429,7 +429,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized RV", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized RV";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -469,7 +469,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game RV", "[SingleReportEnableDisable]
 {
     const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized Game RV";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -509,7 +509,7 @@ TEST_CASE("Enable/Disable Gyro Integrated RV", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable Gyro Integrated RV";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};
@@ -549,7 +549,7 @@ TEST_CASE("Enable/Disable Geomagnetic RV", "[SingleReportEnableDisable]")
 {
     const constexpr char* TEST_TAG = "Enable/Disable Geomagnetic RV";
     static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
-    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+    constexpr uint32_t REPORT_PERIOD = 60000UL; // 60ms
 
     BNO08x* imu = nullptr;
     char msg_buff[200] = {};