Hi BSTRobin, Thanks for sparing your time to validate this. If you check in your logs the rawdata of accel, gyro and Mag has a lot of difference. As you already have the setup, can you try to test by keeping both of them in same position and compare the rawdata. The accel and gyro data of BMI270 is way high when compared to BMI160, this should be similar in same position. Can you validate with accel range 16G and Gyro range 2000. Thankyou once again -santhosh_n
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