MPU9150Lib is an implementation of 9-axis data fusion on an Arduino using the InvenSense MPU-9150 IMU. See MPU9150Lib.pdf for details.

April 30, 2013
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Moved mpu_set_lpf call so that it is the last call made in init().

Adjusted the way that calibrated accels is calculated.

April 29, 2013
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Added two parameters to the library init() function. The first controls the magnetometer update rate separately from the DMP update rate. The second controls the low pass filter setting. See MPU9150Lib.h
for more details.

The calibrated accelerometer data should now reflect the correct offsets. The DMP only puts raw accel data in the FIFO so the library now adjusts the accel values based on the calibration data.

March 30, 2013
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Added Accel9150 to demonstrate how to calculate residual accelerations in the body frame.

Added magMix parameter to MPU6150Lib::init(). This controls how much influence the magnetometer has on the yaw information:
  
  0 = Just use MPU-9150 gyros and ignore the magnetometer
  1 = Just use magnetometer and ignore gyro yaw information
  2-n = Fuse gyro and magnetometer information. The higher the value, the less influence the magnetometer has.

The value that's best will depend on the application and the environment. See MPU9150Lib.h for more.

March 26, 2012
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This is the initial version of the MPU9150Lib software.

For more information, see www.pansenti.com,  pansenti.wordpress.com and twitter.com/Pansenti.

Pansenti can be contacted by emailing to info@pansenti.com.