Hello, I'm playing around with the MPU6050 to compute displacement (yes, quite aware of how inaccurate it is) using the real and world acceleration in the DMP sketche (a God sent!). I'm also using the raw data. With the raw data I was able to compute the displacement without any trouble, whereas in the case of the real and world acceleration I'm getting results that hardly make sense in the context of displacement. Which made me wonder what unit of measurement is being used? I assumed g (acceleration of gravity), but I must be mistaken. Apologises for the newb question and thank you!