Hello Bouth,
Easist idea for your issue is to use our github example. I know you failed using our example due to lots of legacy example
But, that means your API also probably is old version, so I'd like to recommend using latest BMI270 API as well for example code.
BMI270 API - https://github.com/BoschSensortec/BMI270-Sensor-API
BMI270 FIFO + Aux - https://github.com/BoschSensortec/BMI270-Sensor-API/tree/master/bmi270_examples/aux_fifo_full_header_mode
Clean your test code, and apply our BMI270 + BMM150.
Please let me know if you have any questions in terms of our example code.
Thanks,
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