Arduino side of this

unity-arduino-mpu6050.c

...
// modify the initiator of the packet
uint8_t teapotPacket[20] = { '$', 0x02,
                             0,0, 0,0, 0,0, 0,0, 
                             0,0, 0,0, 0,0,
                             0x00, 0x00, '\r', '\n' };
...

loop() {
  ...
  // modify this inside loop function
  #ifdef OUTPUT_TEAPOT
  // display quaternion values in InvenSense Teapot demo format:
  teapotPacket[2] = fifoBuffer[0];
  teapotPacket[3] = fifoBuffer[1];
  teapotPacket[4] = fifoBuffer[4];
  teapotPacket[5] = fifoBuffer[5];
  teapotPacket[6] = fifoBuffer[8];
  teapotPacket[7] = fifoBuffer[9];
  teapotPacket[8] = fifoBuffer[12];
  teapotPacket[9] = fifoBuffer[13];

  teapotPacket[10] = fifoBuffer[28];
  teapotPacket[11] = fifoBuffer[29];
  teapotPacket[12] = fifoBuffer[32];
  teapotPacket[13] = fifoBuffer[33];
  teapotPacket[14] = fifoBuffer[36];
  teapotPacket[15] = fifoBuffer[37];

  Serial.write(teapotPacket, 20);
  teapotPacket[17]++; // packetCount, loops at 0xFF on purpose
  #endif
  ...
}