Diffr between Accl/mag/gyro(x,yz,) & quaternions(w,x,y,z) & yaw/pitch/roll value

Hello sir,

Am new to Arduino & mpu9150, want to work with these two things.

I want to know the difference and dependency among these below values, am able to get these below values using ++attachment.

  1. Accl/mag/gyro(x,yz,)
  2. quaternions(w,x,y,z)
  3. Yaw/pitch/roll value

What is the use and dependency one another?

Could you please help me, thanks in advance.

MPU9150_raw.ino (3.54 KB)

MPU9150_DMP6.ino (15.2 KB)

Study this excellent introduction to quaternions.