Roll and Pitch

Hello,

Reading into the MPU 6000 documentation and some forum topics, it appears that I can configure the DMP so that I can get a quaternion. For my application, it would be great if the sensor itself could give me roll and pitch via the DMP. Is this possible? It doesn't appear that there is any documentation for sending code to the DMP. So then the only code I can send is the provided code to allow the sensor to output a quaternion.

To invensense: Are you planning on providing documentation in the future about programming the DMP? If so, what type of timeline can you expect for this?

To readers of this forum: Would you be able to suggest another sensor which can provide roll and pitch? If not, is there any benefit, in terms of execution time of the code, of using the DMP provided quaternion versus using raw gyro and accel data provided by the MPU 6000 to get roll and pitch?

I am asking these questions in hopes of seeing if it is worth spending the time and money on this sensor. Any response would be appreciated. Thanks.