The ever popular MPU6050 IMU from Invensense (Now TDK) contains a processor for fusing the output of the gyroscope and the accelerometer into an attitude estima

The ever popular MPU6050 IMU from Invensense (Now TDK) contains a processor for fusing the output of the gyroscope and the accelerometer into an attitude estimate. Like the STxP70, this processor's firmware is a blob that's loaded over SPI/I2C on startup. There are a few versions of the blob floating around the internet and its features are anything but well-documented. Example: https://stackoverflow.com/questions/66324744/setting-initial-values-for-pitch-and-roll-for-mpu6050-dmp-processing https://stackoverflow.com/questions/66324744/setting-initial...