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Hi there,I am using the MPU6050 and I2CDevlib library to obtain quaternion values from the sensor. This sketch is currently taking up a bit too much memory for my liking and I noticed that there is a 64 byte buffer. Since I am only using one set of data, is there anyway to go into the library and not input the other data such as acceleration and gyro?Thanks

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.