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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,    ... View more

Hello dooboo,    The reference code you refered is old code, please check new code.  There is latest code using BMI260 based on application board 2.0. https://www.bosch-sensortec.com/software-tools/tools/coines/ When you download this, there is interrupt example as below url.  C:\COINES\v2.2\examples\c\bmi160\interrupt_streaming_mcu\bmi160_interrupt_streaming_mcu.c Hope this helsp for you.  Thanks,  ... View more

Hello,    Yes, if you are using old version BSEC, there is no the parameter.  If you downloaded DFRobot github, that was 3 years old code, so that you need to use latest bsec.  Please download below url, and migrate it.  https://www.bosch-sensortec.com/software-tools/software/bsec/ There is arduino example as well.  Thanks,  ... View more