@Andreas:
in der _034.ino, im void loop() Teil:
.....
if (mpuInterrupt == true)
{
sampleTimePID = (micros()-timer)/CC_FACTOR/1000000.0; // in Seconds!
timer = micros();
LEDPIN_SWITCH
updatePositionFromDmpFast(&PitchInput,&RollInput);
PitchOutput = ComputePID(sampleTimePID,PitchInput,PitchSetpoint,&PitchErrorSum,&PitchErrorOld,PitchKp,PitchKi,PitchKd,maxDegPerSecondPitch);
RollOutput = ComputePID(sampleTimePID,RollInput,RollSetpoint,&RollErrorSum,&RollErrorOld,RollKp,RollKi,RollKd,maxDegPerSecondRoll);
PitchDevider = constrain(maxDegPerSecondPitch / (PitchOutput + 0.000001), -10000,10000);
RollDevider = constrain(maxDegPerSecondRoll / (RollOutput + 0.000001), -10000,10000);
//Serial.println((micros()-timer)/CC_FACTOR);
Serial.print(PitchInput); Serial.print(" "); Serial.println(RollInput);
....