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mpu6050 dmp

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Hi everyone
I want to make an image stabilization with stm32f103 microcontroller and mpu6050 (GY-521 module)
In this project i need yaw pith roll in best Precision and need quaternion
I want to get quaternion from dmp and there is no resource and user manual that describing how to coding dmp
If anyone have a doument that teach how i can using dmp to get exact data please share
I saw arduino codes which using a bank address but i was very confused
Please help me

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