The algorithms for sensor fusion are TDK-InvenSense IP and runs in encrypted form on the DMP or as a binary on the host. Sensor fusion outputs quaternions, which is a 3D representation of the movement of an object in space. As long as the application is using quaternions, there is no need for the system developer to get burdened with the details of sensor fusion implementation

Please, check out the datasheet and application notes of the product. Then, download our eMD firmware from our webpage and look at our examples. Unfortunately, we cannot debug your code, but we can help customers with any questions you might have for a specific register or procedure.

This might be Atmel issue, if your file path is too long it causes an error. Try to place your file in shorter path. Like C:\Users\xxxx\Documents\Atmel Studio\eMD-SmartMotion 

Our Public GitHub page is here: TDK InvenSense · GitHub

You can see our Arduino drivers in GitHub where we also track and solve your issues. 

Or you can download our Official Arduino libraries here: 

ICM42670P - Arduino Reference

ICM42670S - Arduino Reference

ICM45605 - Arduino Reference

ICM45686 - Arduino Reference

ICP101xx - Arduino Reference

ICP201xx - Arduino Reference

ICUX0201 - Arduino Reference

Software Downloads | InvenSense Developers (tdk.com)

An angular frame is a representation of an object’s orientation in 3D space. It is commonly described using Euler angles or a quaternion. Please see http://en.wikipedia.org/wiki/Euler_angles and http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation.

An angular frame does not describe the 3D location of an object, only its rotation relative to a reference. The reference rotation for a 6-axis angular frame is flat and level—that is, the vertical axis of the object is aligned with up/down. The reference rotation for a 9-axis angular frame is flat, level, and north: the vertical axis of the object is aligned up/down, and the forward axis of the object is aligned north/south.

A quaternion represents a rotational frame in a form related to the angle theta and axis v of rotation, where v is a three-dimensional unit (length 1) vector, and q = sin (theta / 2) + i * vx * cos(theta/2) + i * vy * cos(theta/2) + k * vz * cos(theta/2)

You can easily convert a quaternion to Euler angles or a rotation matrix.

http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation

The DMP calculates the MotionFusion solution as a quaternion because it is the most efficient representation for mathematical applications.

Euler angles are a representation of an angular frame, as are quaternions and rotation matrices.

Euler angles are a set of three angles, corresponding to pitch, roll, and yaw. Euler angles may be constructed according to many conventions. The axes of and ordering of ordering of pitch, roll, and yaw vary by convention. 

Euler angles are not commutative. For any Euler angles A, B, a rotation A followed by B is not 

(B + A) is necessarily equal a rotation B followed by A (B + A). Because of this algebraic property, Euler angles are often not very useful for signal processing applications.

Euler angles suffer from a pair of singularity points at which only two of the three angles are significant. The derivative of the Euler angles is discontinuous at this point. This condition is often called gimbal lock.

Both accelerometers and magnetometers are noisy sensors, which means they exhibit a slow response rate (due to noisy filtering) in fast moving systems. Accelerometer measurements are also affected by motion. By using a gyroscope and sensor fusion, the sensor fusion solution will have a faster response rate and track small, quick movements much more quickly. Gyroscope sensor fusion also makes it possible to sense linear acceleration separately from gravity.

9 axis MotionTracking® combines gyroscope, accelerometer, and TMR magnetometer sensor data. The resulting angular frame is relative to both gravity (down) and north.

The advantages of 9 axis MotionTracking® over 6 axis MotionTracking® are that 9 axis MotionTracking® results are usable for navigation and other applications which require information about the angle relative to north. It also eliminates any heading drift which may be present in a 6 axis MotionTracking® solution so that users are pointed in the correct direction without delay due to recalibration.