Using the Motion Driver 6.12 APIs and enabling the 9-axis sensor fusion on the MPU9250 for calibration of the gyro using the magnetometer: is there a way to determine when the unit is in 6-axis and 9-axis mode.
The units have not been calibrating properly, even after using figure 8 motions. There seems to be an unrestricted angular drift around the y-z plane. I would like to confirm that the unit is in-fact in 9-axis mode. The test environment has low magnetic fields and magnetic north reads as approximately 49uT.