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Hi all, perhaps someone can help me to find a solution for my problem. I got the original teapod demo working together with the arduino code MPU6050_DMP6.ino. The plane on the processing sketch does exactly what I want to get out; the absolute position of the object in respect to the ground position (or point of view). All what i want is to get the angles for each axis of the object (yaw, pitch and roll) in realtime, just like i sit in the plane an look on an artificial horizon. All my attempts to convert quaternion to euer or YPR ended in solutions, where pitch an roll interact. So for example if i first roll about 30 degrees and then change the pitch angle from 0 to 70 degrees, the roll angle changes but there is no roll on the MPU6050. Does anybody have an idea how to solve this problem ? Thanks and regards Stefan