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Can someone explain the raw DMP packet information to me. Here's what i know so far. Every packet is 42 bytes. 0:3 QW 4:7 QX 8:11 QY 12:15 QZ 16:19 GX 20:23 GY 24:27 GZ 28:31 AX 32:35 AY 36:39 AZ 40:41 unknown Am I correct in assuming that all the quaternions are double precision floating point numbers? And the gyro and accel are 32 bit int? Are the gyro and accel numbers what the DMP read off of the register when it calculated the quaternions?

Hi Jet. Depending on the DMP version, this is what I've found in the library sources: /* ================================================================================================ * | Default MotionApps v2.0 42-byte FIFO packet structure: | | | | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] | | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 | | | | [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] | | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 | * ================================================================================================ */ and /* ================================================================================================ * | Default MotionApps v4.1 48-byte FIFO packet structure: | | | | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] | | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 | | | | [GYRO Z][ ][MAG X ][MAG Y ][MAG Z ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] | | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | * ================================================================================================ */ reading the datasheet of the MPU-9150 (that uses a 6050), I see that: accel is 16 bit signed integer to be converted using the proper scale factor (depending on which full scale range you previously set) gyro is same as above megnetometer is 13 bits signed int with +-1200 microTesla range about the last question: i did not find exact info for that, but being returned together in the same packet I think yes. my 2 cents, Mario