multisensor integration

- we need Quaternions and linear accelerations from 3 sensors. We would like to stream at 25 Hz rate if possible. Are there any apps that can help us get started for multi sensor modules
- is the sensor fusion done in the memory of the board or on the app? It wasnt clear to me reading your APIs
- what is the impact on the orientation accuracy if hard iron, soft iron offsets are not corrected. I am trying to understand, if this would cause any noticeable problems

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