Hi,
I see lot of spikes in the gyro data with the settings, like this 
`
settings.gyroEnabled = 1; //Can be 0 or 1
settings.gyroRange = 1000; //Max deg/s. Can be: 125, 245, 500, 1000, 2000
settings.gyroSampleRate = 6660; //Hz. Can be: 13, 26, 52, 104, 208, 416, 833, 1666
settings.gyroBandWidth = 400; //Hz. Can be: 50, 100, 200, 400;
settings.gyroFifoEnabled = 1; //Set to include gyro in FIFO
settings.gyroFifoDecimation = 1; //set 1 for on /1
settings.accelEnabled = 1;
settings.accelODROff = 1;
settings.accelRange = 2; //Max G force readable. Can be: 2, 4, 8, 16
settings.accelSampleRate = 6660; //Hz. Can be: 13, 26, 52, 104, 208, 416, 833, 1666, 3332, 6664, 13330
settings.accelBandWidth = 400; //Hz. Can be: 50, 100, 200, 400;
settings.accelFifoEnabled = 1; //Set to include accelerometer in the FIFO
settings.accelFifoDecimation = 1; //set 1 for on /1
settings.tempEnabled = 1;
//Select interface mode
settings.commMode = 1; //Can be modes 1, 2 or 3
//FIFO control data
settings.fifoThreshold = 3000; //Can be 0 to 4096 (16 bit bytes)
settings.fifoSampleRate = 6600; //default 10Hz
settings.fifoModeWord = 0; //Default off
allOnesCounter = 0;
nonSuccessCounter = 0;`
is there any suggestion or filter settings, or something I should change?