The `bsx_get_gyrorange' and 'bsx_set_gyrorange' are undefined because BSXLite uses the same include file as BSX (non-Lite). In any case, The gyro range is fixed to 500dps in BSXLite. This is outlined in the BSXlite library integration guide. Your calculations are correct at first glance. However for magnetometer, the input data is the same scaling as the BMM150 API when using integer compensation formulae, that is 16 * microtesla. https://github.com/BoschSensortec/BMM150-Sensor-API/blob/3ee41a2285823374fca80c258e93c031caa9715c/bmm150.h#L232 o_o
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