"Sounds great but if your project is closed source then it doesn't belong here and your post becomes and advert for your product. If it is open source then please provide links to the code and hardware specs. Thanks."
I have a GY-85 IMU which is a cheap IMU containing the ADXL345 accelerometer, ITG3200 gyroscope and HMC5883L magnetometer. Although i've got it working I find it difficult to work with. It is however about 7 year old technology so I am sure there…