Initial tests with FreeIMU v0.4 and MPU6050
I've been playing with FreeIMU v0.4 and its MPU6050 for some initial testing. I used the code that Noah Zerkin shared on a previous post (thanks Noah!) which supports 6DOM accelerometer+gyroscope on chip DMP sensor fusion and changed it slightly to output quaternion data as expected by the FreeIMU_cube Processing sketch in the FreeIMU library. Programs used for this tests are attached at the end of this page.
The result (see video below) has been very successful. 6DOM sensor fusion looks pretty good. It remains to be tested the 9DOM sensor fusion and it's integration with the HMC5883L: I suspect this will be quite an headache.. I'll let you know.
Scoping SDA and SCL I2C signals showed pretty solid signals. I've been also testing the MS5611 barometer on FreeIMU without any issue (not on video).