view the calibrated magnetometer after Magneto1.2

sensors/imu/arduino/read_calibrated_magnetomer.ino

@@ -0,0 +1,44 @@
+#include "Arduino_BMI270_BMM150.h"
+
+// Calibration parameters given by Magneto 1.2 for raw magnetometer output in nT
+float A_inv_acc[3][3] = {
+  {0.923189, -0.010470, 0.007076},
+  {-0.010470, 0.900017, 0.004535},
+  {0.007076, 0.004535, 0.927810}
+};
+
+float b_acc[3] = {5.528364, 0.666516, 0.187235};
+
+void setup() {
+  Serial.begin(9600);
+  while (!Serial);
+  Serial.println("Started");
+
+  if (!IMU.begin()) {
+    Serial.println("Failed to initialize magnetometer!");
+    while (1);
+  }
+}
+
+void loop()
+{
+    float x_mag, y_mag, z_mag;
+    float Xm_off, Ym_off, Zm_off;
+    float Xm_cal, Ym_cal, Zm_cal;
+
+
+    if (IMU.magneticFieldAvailable()) { // Query if new magnetic field data from the IMU is available
+        IMU.readMagneticField(x_mag, y_mag, z_mag); // return the magnetic field in uT
+    }
+
+    Xm_off = x_mag - b_acc[0];
+    Ym_off = y_mag - b_acc[1];
+    Zm_off = z_mag - b_acc[2];
+    Xm_cal = A_inv_acc[0][0]*Xm_off + A_inv_acc[0][1]*Ym_off + A_inv_acc[0][2]*Zm_off;
+    Ym_cal = A_inv_acc[1][0]*Xm_off + A_inv_acc[1][1]*Ym_off + A_inv_acc[1][2]*Zm_off;
+    Zm_cal = A_inv_acc[2][0]*Xm_off + A_inv_acc[2][1]*Ym_off + A_inv_acc[2][2]*Zm_off;
+
+
+    Serial.print(Xm_cal); Serial.print(" "); Serial.print(Ym_cal); Serial.print(" "); Serial.println(Zm_cal);
+    delay(12);
+}