             mpu.dmpGetGravity(&gravity, &q);
             mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
             mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);
-
-            float acc_x_val = aaWorld.x;
-            float acc_y_val = aaWorld.y;
-            float acc_z_val = aaWorld.z;
-                    
             Serial.print("aworld\t");
             Serial.print(aaWorld.x);
             Serial.print("\t");

            }

           if (recvChar == 'M'){
             //float GyroPercentage = 0.9;
              

             //float new_x_val = computeComplementaryFilter = (x_val, acc_x_val, GyroPercentage);
             //float new_y_val = computeComplementaryFilter = (y_val, acc_y_val, GyroPercentage);
             //float new_z_val = computeComplementaryFilter = (z_val, acc_z_val, GyroPercentage);

            blueToothSerial.println(String(x_val) + "," + String(y_val) + "," + String(z_val));  //Yaw, Pitch and Roll values
             
             //blueToothSerial.println(String(x_val) + "," + String(y_val) + "," + String(z_val) + "," + String (acc_x_val) + "," + String (acc_y_val) +"," + String (acc_z_val));  //Yaw, Pitch and Roll values and acc values
            
           }
    }


    //mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

    // supply your own gyro offsets here, scaled for min sensitivity
      mpu.setXAccelOffset(2684);
      mpu.setYAccelOffset(4297);
      mpu.setZAccelOffset(1449); // 1688 factory default for my test chip
      
      mpu.setXGyroOffset(185);
      mpu.setYGyroOffset(3191);
      mpu.setZGyroOffset(74);
      

/**************************************************************************************/
