MPU9150Lib is an implementation of 9-axis data fusion on an Arduino using the InvenSense MPU-9150 IMU. See MPU9150Lib.pdf for details. This is the initial version of the MPU9150Lib software. For more information, see www.pansenti.com, pansenti.wordpress.com and twitter.com/Pansenti. Pansenti can be contacted by emailing to info@pansenti.com.