Version 1.2.10

This release:

• Adds new methods to get and set the DMP biases
  • Thank you @ThreadOfFate #105
  • The methods are: getBiasGyroX , getBiasAccelY , setBiasCPassZ etc
• Adds a new example showing how to use the new methods and save/restore the biases
  • The example uses EEPROM to store the biases
  • It is written for ESP32 but can be adapted to work on many other platforms. You may need to change EEPROM.begin , EEPROM.commit etc.
  • If the EEPROM biases are valid, they are restored after the DMP has been begun
  • The biases are saved to EEPROM after two minutes
  • In those two minutes: rotate the sensor slowly around all three axes; hold the sensor stationary in all six orientations for a few seconds
  • When the example starts, the roll, pitch and yaw will start at zero but will settle to the correct values over the next ~ten seconds
• Don't forget to uncomment line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h to enable support for the DMP