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The IMU continuously performs an autocalibration procedure if (and only if) operating in fusion mode. The magnetometer autocalibration can however be -disabled writing 0 in the sysfs in_magn_calibration_fast_enable attribute. +disabled by writing 0 in the sysfs in_magn_calibration_fast_enable attribute. The driver provides access to autocalibration flags (i.e. you can known if the IMU has successfully autocalibrated) and to the calibration data blob.