Quaternions from the MPU-9150

[Caius]

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.