/* Returns a quaternion based only on gyro and accel.  */
inv_error_t inv_get_6axis_quaternion(long *data)
/* Returns a quaternion based only on gyro and accel.  */
inv_error_t inv_get_6axis_quaternion(long *data)
{
    memcpy(data, rh.gam_quat, sizeof(rh.gam_quat));
    return INV_SUCCESS;
}