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Help with reading data from ADXL373 Accelerometer (I2C)

According to the datasheet, the 12 bits of the X acceleration are stored into the registers XDATA_H and XDATA_L as follows: XDATA_H: b₁₁b₁₀b₉ b₈ b₇ b₆ b₅ b₄ XDATA_L: b₃ b₂ b₁ b₀ x x x x where ...
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Quaternion values from Arduino 9-axis motion shield seem very wrong

I am not familiar with this sensor, so I am just guessing. The sensor is likely giving you fixed-point numbers. Judging from the real part, there are most likely 14 bits right of the implicit radix ...
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