@aggrav8d...
cool...you solved my big problem....thanks.
Regarding your raw output question...as far as i can understand it the first three values correspond to the accelerometer readings X, Y, Z and the other 3 correpond to gyro readings X, Y, Z...the last ones are for magnetometer...
I think we can use these values directly for stabilization purposes...i dont understand why you need the firmware from google?