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suso posted a topic in MPU-6050 6-axis accelerometer/gyroscope (InvenSense)Hi everybody, I've just arrived to this forum, and after looking for the answer with no results, I post this question if possible someone could answer me: Using the sketch provided by Jeff (Thanks for your contributions!! ) I noticed that axis direction z (yaw) and y (pitch) do not move according the datasheet axis scheme (pag 6), I mean, for instance, once I move the IMU in positive z, I get a negative vaue in yaw, and the same result in y axis. Could it be a matter of axis rotation regarding gravity substraction? Please, could please someone tell me something about it? Thanks!