I'm working on integrating the ICM-20948 with the DMP running sensor fusion (to obtain absolute orientation/"9-axis" quaternions). After much work, I've been able to come up with code to enable the magnetometer and the DMP and get the quaternion output from the DMP. However, the problem that I am currently having is that the raw gyroscope data has a very large static offset, and this is getting passed through to the DMP. As a result, if I allow the DMP's algorithm to integrate the gyro data, the DMP thinks the device is constantly spinning.