About Using MPU9250

Hello, all.

When I use MPU9250, I meet some difficulties.

Doesn't the MPU9250 have DMP? It can perform pose analysis by itself.

Why do I need to use complementary filtering to analyze the pose in the MinIFly data?

Is there something wrong with the self-analysis of DMP?

Hope someone can help me look at these issues!

Thanks in advance!