I'm currently working on a project using the openIMU330BI evaluation board. I've seen in the datasheet for the surface-mounted version that the openIMU330BI has a built-in Kalman filter but looking at the VG example code the Kalman filter seems to be on the evaluation board. Is there really a hard-coded Kalman filter on the IMU itself?

Further I'm trying to understand how the whole kalman filter calculation works: Should I be using the VG or the IMU code sample as I don't have a GPS for the kalman filter?

Thank you for your answers in advance!