According to the website product specifications, the MPU-60X0 includes an:
onboard Digital Motion Processor™ (DMP™) capable of processing complex 9-axis MotionFusion algorithms. The parts’ integrated 9-axis MotionFusion algorithms access external magnetometers or other sensors through an auxiliary master I²C bus, allowing the devices to gather a full set of sensor data without intervention from the system processor.
However, it seems that the magnetometer data is not currently used by DMP in any way, greatly increasing processor overhead. Is there anywhere to get a new DMP binary that enables the said function?
The DMP binary should be able to interface a HMC-5883L magnetometer. How would we set the offsets and axis calibration for 9axis DMP? Due to the odd orientation of the HMC-5883L, it happens to be mirrored across the X-Y plane (-Z direction) when mounted on the same side of a PCB as the MPU sensor.