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  1. Hi, I've been using the code found at https://github.com/sparkfun/MPU-9150_Breakout. I need to get the quaternions, but the problem is the orientation. The current orientation doesn't fit my application because I need it to control the movements of an industrial robot which has the axis as shown in the attached photo. I'm guessing that I could change the orientation of the given quaternions from the arduino code but I can't figure out how. As soon as I start the program, the robot orients itself upward and I'm guessing this is because the orientation from the Arduino code is set for aircraft control which needs Z axis to be facing in this manner. I've attached a photo of how the robot is being oriented with the given quaternions. In my case I would need the +z axis to be facing forward, the +x to be facing towards earth and +y can be seen in the picture (green). The robot axis are highlighted and color coded for easy identification. If you could help, that would be awesome. This is the code: https://github.com/sparkfun/MPU-9150_Breakout/blob/master/firmware/MPU6050/Examples/MPU9150_AHRS.ino I've only taken out the display part because I don't have one.
  2. Hi guys, I'm trying to connect an MPU 9150 to an Arduino Due and I've tried using MPU_DMP6.ino. I've ran it without the "TWBR = 12;" line but i get "FIFO overflow" and with that line it gives me the same errors as Newbie got. MPU6050_DMP6.ino: In function 'void setup()': MPU6050_DMP6:165: error: 'TWBR' was not declared in this scope Could you help ? EDIT: I'm not sure if I connected the interrupt as it should be, so if you could help that would be awesome. This is what I've done (connected on the board with the Digital (PWM) 2: pinMode(2, INPUT); attachInterrupt(0, dmpDataReady, RISING);
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