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HI Jeff... I'm Mochammad Habib Bachtiar as student of trunojoyo university in Indonesia. In this semester I have project about motion capture use a MPU6050 & Arduino Uno. but my focus is gyroscope with horizontal motion at upper arm, lower arm, and hand. so each segmen one sensor. I want ask you about that. how to modified some source code at arduino until this raw value become to angular rate. Please explain source code base from x, y & z axis.... Thank's Jeff ....

First off, I would like to sincerely thank Jeff Rowberg for his work on writing the libraries for this chip and to whom that have any insights on this matter. I have an application in which I'm using the chip for posture measurement. As of right now, I am able to stream my desired information using a serial connection. For this application, I needed raw accelerometer, raw gyroscope information in addition to the quaternion DMP output for the sake of having redundant information. I noticed that I can obtain the raw accelerometer and raw gyroscope information from both the DMP library and the MPU library. I was wondering if it matters where I get this information from. (i.e. mpu.dmpGetAccel(&aa, fifoBuffer) vs. mpu.getAcceleration(&Ax,&Ay,&Az)). Also, does the full scale voltage settings (i.e. +/- 2g vs. +/-4g) apply to the DMP quaternion output, or is it a complete unknown. Thanks in Advance