@lewissykes The Factory Demo is here:
https://github.com/m5stack/M5AtomS3-UserDemo/blob/atoms3r/platforms/atoms3r/main/hal_atom_s3r/utils/bmi270/src/bmi270.cpp
But written in C, C++ for ESP-IDF...
The Arduino versions, here:
https://github.com/m5stack/M5AtomS3/blob/main/examples/Basics/imu/imu.ino
Which I see say AtomS3, not 'R' but the
#include <M5Unified.h>
and the correct board definition, may make the mag values present.
But only the 'slick' Users Demo will be that refined and cool.