Requirements to get Euler Angles from BHI260AP

[monbot]

I would like to get euler angles from the BHI260AP sensor using only the built in acc/gyro sensor.

1. In the datasheet (Table 88, p119), it is explained that an external magnetic sensor is required to obtain Euler angles.
Is the magnetic sensor mandatory?

2. If I only use the built-in sensor, which firmware should I use?
Can I use the firmware below?
https://github.com/boschsensortec/BHY2-Sensor-API/blob/master/firmware/bhi260ap/BHI260AP.fw.h

[BSTRobin]

Hi monbot,

Calibration runs automatically, and the profile after calibration is saved or not saved by the user.
If the calibration profile is saved, it can be used to set the profile on the next boot without recalibration.
If you do not save the calibration profile and set the profile, you need to recalibrate in the next boot.