Without any knowledge of DCM, I'm porting a DCM implementation, that is used with SparkFuns 9DOF to C for ARM Cortex M3.   So far it goes well, but since I do not know what to expect of data in the matrices, I do not know if the current filter output data is tuned well. In the test below I quickly moved the IMU with my hands over a flat table. I did this from left to right over the X-axis from t…