Push 6-Axes-Quaternion and compass data to the fifo

Hi,

I use the mothion driver 5.1 to access the mpu 9150. How can i configure the dmp to push magnetometer raw data and 6-axis-quaternion data into the fifo. This seems to be the only resonable way to compute the 9-axis-quaternion and use the advantages of the fifo.

The aray tmp in function dmp_enable_feature in the file inf_mpu_dmp_motion_driver.c seems to reserve the slots tmp[7], tmp[8] and tmp[9] for magnetometer data. To which address I had to set this slots to push the raw magnetometer to the fifo?

Can anyone help me please? Maybe sectionbest?