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    MPU6050 w/PSOC4 - Implementing a Filter

      I have used two references on this site to get my MPU6050 up and running. 




      and here:




      Because I need data at approx. 500Hz (the DMP of the MPU6050 is limited to 200Hz) I am attempting to implement a quaternion filter (Madgwick) - found here.




      The unfiltered data is coming through fine; however, my implementation of the filter is not working correctly as I'm getting 0s even after moving the MPU6050.  Any help on this is greatly appreciated.


      (Note: The attached project was created w/ the PSOC4-Pioneer Kit - BLE version - easily changed by selecting a different device)

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