The algorithms for sensor fusion are TDK-InvenSense IP and runs in encrypted form on the DMP or as a binary on the host. Sensor fusion outputs quaternions, which is a 3D representation of the movement of an object in space. As long as the application is using quaternions, there is no need for the system developer to get burdened with the details of sensor fusion implementation

Please, check out the datasheet and application notes of the product. Then, download our eMD firmware from our webpage and look at our examples. Unfortunately, we cannot debug your code, but we can help customers with any questions you might have for a specific register or procedure.

This might be Atmel issue, if your file path is too long it causes an error. Try to place your file in shorter path. Like C:\Users\xxxx\Documents\Atmel Studio\eMD-SmartMotion 

Our Public GitHub page is here: TDK InvenSense · GitHub

You can see our Arduino drivers in GitHub where we also track and solve your issues. 

Or you can download our Official Arduino libraries here: 

ICM42670P - Arduino Reference

ICM42670S - Arduino Reference

ICM45605 - Arduino Reference

ICM45686 - Arduino Reference

ICP101xx - Arduino Reference

ICP201xx - Arduino Reference

ICUX0201 - Arduino Reference

Software Downloads | InvenSense Developers (tdk.com)

An angular frame is a representation of an object’s orientation in 3D space. It is commonly described using Euler angles or a quaternion. Please see http://en.wikipedia.org/wiki/Euler_angles and http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation.

An angular frame does not describe the 3D location of an object, only its rotation relative to a reference. The reference rotation for a 6-axis angular frame is flat and level—that is, the vertical axis of the object is aligned with up/down. The reference rotation for a 9-axis angular frame is flat, level, and north: the vertical axis of the object is aligned up/down, and the forward axis of the object is aligned north/south.