How do you determine when the sensor fusion system's magnetometer calibration is complete? I don't see an obvious 'complete' flag in the globals - there's iValidMagCal, which indicates the solver used. Is that the best place to check?
It'd be nice to have a few more API methods to easily check the status of the sensor fusion system. The status module doesn't seem to get a lot of information passed to it - just a few generic statuses like 'off', 'normal', 'hard_fault', and 'soft_fault'. It's a little frustrating that the Windows application source isn't available so it's not always clear where it's getting its information.