             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");

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

    // supply your own gyro offsets here, scaled for min sensitivity
      mpu.setXAccelOffset(95);
      mpu.setYAccelOffset(5489);
      mpu.setZAccelOffset(774); // 1688 factory default for my test chip
      
      mpu.setXGyroOffset(50);
      mpu.setYGyroOffset(229);
      mpu.setZGyroOffset(22);
      

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

            }

           if (recvChar == 'M'){
             blueToothSerial.println(String(x_val) + "," + String(y_val) + "," + String(z_val));  //Yaw, Pitch and Roll values
           }
    }

