rviz_imu_plugin and arduino

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Hy there,

i am visualizing imu data from an arduino with the rviz_imu_plugin. I am filtering the data already on the arduino and publish the quaternions using sensor_msgs/Imu.msg. The visualization works fine but somehow the movement of the cube is totally wrong. I guess there is a problem with the resulting pose out of the quaternions...

Sample ouput of the quaternions coming from Arduino.

Quaternions: -0.66 -0.06 0.02 0.75 Quaternions: -0.65 -0.07 0.02 0.75

I set the 0th element of the other covariance matrices to -1 since i am not publishing acceleration and angular velocity. Does somebody have a suggestion?

Thanks in advance,

Michael