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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.

Hello i2cdevlib forums, This is post seeking assistance with a little additional programming for the MPU6050-DMP6 sketch. I am using the Sparkfun MPU6050 breakout board with an Arduino Micro strapped to the bottom of a skateboard to get data to compare the analytical mechanical model I am working on. The sketch works almost perfectly. When outputting quaternions, after anywhere from 5-30 seconds of vigorous movement the serial monitor stops giving me data. (Are there any fixes for this?) My main request is for a addition to the sketch to allow the run to be stopped with another entering of a any key. Press an key to start, then press any key to stop kind of thing. Or is there an arduino pin which I could wire that can send a high/low signal to turn off and on the arduino in order to capture the ollie data which is only 1-2 seconds long? Are there any other manual ways of doing this? Any help or interest is greatly appreciated. Adam Gomez