Incorrect Acceleration Values with ICM42688P

Hardware and Software Details: Sensor: ICM42688P Microcontroller: nRF52840 SDK: nRF Connect SDK (NCS) v2.5.1 Use Case: The sensor is integrated into a helmet device that is intended to move during operation. Issue Description: We are experiencing an issue with the accelerometer values obtained from the ICM42688P sensor. After converting the raw data to acceleration values in m/s², the readings occasionally exceed the expected range of ±9.806 m/s² (gravitational force). Sometimes, the values go up to ±10.00 m/s², which is not physically accurate. Despite reviewing all configurations, including the full-scale range (FSR) and conversion formulas, everything appears to be correct. We suspect the issue might be related to calibration or potential misalignment of offsets. Calibration Requirement: Since the sensor is embedded in a helmet device that will experience movement during operation, we need to implement a calibration process that accounts for this use case. This includes: Static calibration for initial setup. Dynamic calibration to adjust offsets during operation when the helmet is in motion. Alignment with the gravity vector when the helmet is stationary. Request for Assistance: Guidance on how to properly set up and implement a calibration routine suitable for this scenario. Help with writing the logic for calibration and offset correction. Would appreciate a detailed explanation and any suggestions for improving the accuracy of the acceleration readings. If needed, I can provide the configuration files for review.