MPU-9150 on Texas Instruments Boosterpack

Good Morning.

I am an Electronic Engineer who is working with his first MPU-9150, which is included in Texas Instruments Sensor Hub BoosterPack board.
http://www.ti.com/tool/boostxl-senshub

I have created a simple Processing script to get the data from the MPU-9150 and represent it in real time on a screen, via the serial com of a Tiva device. I have posted this script on Texas' developers forum:
http://e2e.ti.com/support/microcontrollers/tiva_arm/f/908/t/285768.aspx


However, many people (and myself) reported that the data of the YAW axis is incorrect. Everybody in TI forum is using the TI Sensor Library, which transforms the output data of the MPU9150 into Quaternations/Eulers tables.
(See http://e2e.ti.com/support/microcontrollers/tiva_arm/f/908/p/266853/1051399.aspx#1051399)

I am pretty sure the error is within TI SensorLIB Library, which is part of Tivaware Library, which you can find here:
http://software-dl.ti.com/tiva-c/SW-TM4C/latest/index_FDS.html

Unfortunately, as you can read in the forum post, Texas Instruments has not provided any calibration data/procedure, and as they have posted, they know about the error but they are not fixing it.

From my point of view, this situation is harming the image the MPU-9150 device within the Tiva community and stopping MPU9150 (and boosterpack) sales in final designs.

However, we would like to ask for some help or advice to use MPU-9150 with Tiva devicesFor example:
- I can't spot where the errors are in the library. Would you mind to review the library to check them?

- If so, which are the changes to perform to the code so our community could use the device properly?

- Could you describe a calibration method?

- Could you tell us a method to check the correct behaviour of MPU-9150?

I am very interesteed in introducing a Motion Device like the MPU-9150 in our products, but today is impossible for us.


Thank you all.