I am building a quadruped robocat on a DUE. As with any quad on less than 4 legs you need to know when it is falling so you can adjust.
I have an MPU-9150, actually a GY-9150. This is a MPU-6050 with a compass to fix yaw drift.
I see two approaches to using this:
1) There are a number of different ways in combining the raw accelerometer and gyro data and various filters
2) Use the onboard DMP which works in ways unknown to me. I have found this:
As near as I can tell that takes the raw data into quaternion and then displays it in various other ways.
So, I can take the raw data and filter for y or z acceleration. Or, I can use the DMP and probably look at the roll or pitch data. I would think I should leave gravity in the results but I see several ways of looking at the same info including the mysterious Teapot.
Some guidance is appreciated as I have not used these type devices before.