Hello 1) Basically, you can get mag data using bmi160_extract_aux function. But, need to compensate using below fucntion. bmm150_aux_mag_data(mag_data, &bmm150) 2) If you have your own algorithm and want to use accel and gyro data for compenstation, you can use it. You also can get a data using bmi160_extract_gyro, bmi160_extract_accel. Please check below url and the attached file. ( The attached file is updated version of the url guide ) https://github.com/BoschSensortec/BMI160_driver/wiki/How-to-use-an-auxiliary-sensor-or-magnetometer-with-the-BMI160. Thanks,
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