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Hello! I have installed Jeff Rowberg's i2cdevlib library which I can use for my MPU-6050 to make it interact with Arduino. However, I have an odd problem with one of its functions. It's got a function to turn the accelerometer & gyroscope readings into linear acceleration. This is the definition of the function: uint8_t MPU6050::dmpGetLinearAccel(VectorInt16 *v, VectorInt16 *vRaw, VectorFloat *gravity) { // get rid of the gravity component (+1g = +8192 in standard DMP FIFO packet, sensitivity is 2g) v -> x = vRaw -> x - gravity -> x*8192; v -> y = vRaw -> y - gravity -> y*8192; v -> z = vRaw -> z - gravity -> z*8192; return 0; } However, whenever the function is called in the example code: // display real acceleration, adjusted to remove gravity mpu.dmpGetQuaternion(&q, fifoBuffer); mpu.dmpGetAccel(&aa, fifoBuffer); mpu.dmpGetGravity(&gravity, &q); mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity); Serial.print("areal\t"); Serial.print(aaReal.x); Serial.print("\t"); Serial.print(aaReal.y); Serial.print("\t"); Serial.println(aaReal.z); I get values way off, when I'm not even moving my MPU-6050! These are a few of the values I get: areal -473 423 -425 areal -460 400 -450 areal -471 522 -458 areal -322 276 -582 Do you know how I can fix this? Thanks! -George