/* Body-to-world frame quaternion. The elements are output in the following order: W, X, Y, Z.  */
int inv_get_sensor_type_quat(long *data, int8_t *accuracy, inv_time_t *timestamp)
/* Body-to-world frame quaternion. The elements are output in the following order: W, X, Y, Z.  */
int inv_get_sensor_type_quat(long *data, int8_t *accuracy, inv_time_t *timestamp)
{
    memcpy(data, eMPL_out.quat, sizeof(eMPL_out.quat));
    accuracy[0] = eMPL_out.quat_accuracy;
    timestamp[0] = eMPL_out.nine_axis_timestamp;
    return eMPL_out.nine_axis_status;
}