I have a question concerning the self test and the results handles by the main.c source for arm controllers. Concerning the function run_self_test(void) which I see as line 323 in the file [motion_driver_6.12\arm\STM32F4_MD6\Projects\eMD6\User\src] main.c. The function uses HW offset register to calibrate the MPU9250, but it seems in the caluculation of the calibrations it utilizes sensitivity for 1000dps and 16g. In the documentation AN-MPU-9250A-03 rev 1.0 it states that the sensitivity is 250dps and 2g.
Question: is the main.c incorrect in calculating the calibrated offsets?