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In version 1.1, we changed the API for Quaternion & Euler parameters to match most other libraries including SparkFun & Adafruit. However, please note that Adafruit and this implementation have the same pitch orientation, but SparkFun's pitch is the negative value. Also note that this "roll" in this library matches the silk screen on the SparkFun sensor board, but SparkFun and Adafruit are negatives of that. Details are in the section at the end of the README.md.