`
            int MSB = temp[7] << 8;
            int LSB = temp[6] & 0x000000FF;
            int val = MSB | LSB;
            float quatw = val * 0.000061035f;
            MSB = temp[9] << 8;
            LSB = temp[8] & 0x000000FF;
            val = MSB | LSB;
            float quatx = val * 0.000061035f;
            MSB = temp[11] << 8;
            LSB = temp[10] & 0x000000FF;
            val = MSB | LSB;
            float quaty = val * 0.000061035f;
            MSB = temp[13] << 8;
            LSB = temp[12] & 0x000000FF;
            val = MSB | LSB;
            float quatz = val * 0.000061035f;*/

            /*float sqw = quatw*quatw;
            float sqw = quatw*quatw;
            float sqx = quatx*quatx;
            float sqy = quaty*quaty;
            float sqz = quatz*quatz;

            float gyroX = (float) gyroYY;
            float gyroY = (float) gyroZZ;
            float gyroZ = (float) gyroXX;*/
            float gyroZ = (float) gyroXX;`