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I've seen a couple posts on here asking about incline. Like this one in which Jeff gives a knowing smile at the end when he says the math is beyond him: http://www.i2cdevlib.com/forums/topic/37-incline-of-the-sensor/ But then in this one says the DMP is awesome because it can do those calculations for us: http://www.i2cdevlib.com/forums/topic/29-how-to-calculate-yaw-roll-pitch-from-mpu6050/ So I'm confused as to whether or not we can already calculate pitch and roll minus any gravity affects based on the current MPU6050 library in the I2CDev package? I thought maybe OUTPUT_READABLE_YAWPITCHROLL would provide those values but they definitely seem affected by gravity when I move the sensor around. There's a note above that constant declaration that says "this also requires gravity vector calculations" but I didn't know if that meant "requires you to do them yourself" or just that a note that they are required and being performed behind the scenes. Help me Jeff, you're my only hope! Thanks for the awesome library by the way!