MPL 6.1 port to Teensy 3.1 / MPU9250

Hi all,

I managed to create an Eclipse project for my Teensy 3.1 board including the MPL 6.1 code. I did not have to modify much, and the sample code from the STM32F4 port compiles and links nicely. Data is output from the DMP and pushed into the MPL, as far as I can tell. Unfortunately, the 9DOF fusion algorithm does not seem to work -- it always returns the (1,0,0,0) quaternion with minor (1e-6) fluctuations in the last two entries. Does anyone have an idea what the reason could be? Or has anyone succeeded in fully porting the MPL? Your help would be much appreciated!