MPU9250 Arduino Test Code

main.ino

/*
Library: https://github.com/bolderflight/MPU9250

Ports
MPU9250  Arduino Mega
VCC      3.3V
GND      GND
SCL      SCL
SDA      SDA
*/

#include <MPU9250.h>

#define CHECK(expr)                                    \
    {                                                  \
        int status = (expr);                           \
        if (status < 0)                                \
        {                                              \
            Serial.print(#expr " failed with error "); \
            Serial.println(status);                    \
            return;                                    \
        }                                              \
    }

MPU9250 IMU(Wire, 0x68);
bool initialized = false;

void setup()
{
    Serial.begin(9600);
    Serial.println("Hello, world!");
    CHECK(IMU.begin());
    initialized = true;
}

void loop()
{
    if (!initialized)
        return;

    CHECK(IMU.readSensor());

    float
        ax = IMU.getAccelX_mss(),
        ay = IMU.getAccelY_mss(),
        az = IMU.getAccelZ_mss();
    Serial.print("x: ");
    Serial.print(ax);
    Serial.print("\ty: ");
    Serial.print(ay);
    Serial.print("\tz: ");
    Serial.println(az);
}