Do I need to set the dmp accel bias?

In reference to MPU-6150...

I am unclear from the motion driver tutorial and sample application whether I need to set the dmp accel bias. I found the api call dmp_set_accel_bias which writes 32-bit accelerometer bias values into the dmp memory. I believe however that the DMP uses the accelerometer values that already have the bias removed by the 16-bit register (undocumented) at address 0x6 that is programmed by mpu_set_accel_bias.

Do I need some code to extract the internal mpu accel bias registers and convert them into 32-bit bias values for dmp processing?

Also the DMP supports a feature to output the raw accelerometer values. Have these value been updated with the bias values set through mpu_set_accel_bias? What further calibration should be done on the "raw" accelerometer data? I would guess that I only need to perform scaling based on the FSR/sensitivity.