This educational application by Freescale teaches you about sensor fusion and lets you experiment with some of the routines already present in your Android™ device. It does not require that your device uses Freescale sensors. The app supports 6 and 9-axis fusion routines native to your device, as well as those on compatible development boards. This app just lets you experiment with what you already have.
http://www.freescale.com/webapp/sps/site/overview.jsp?code=XTRSICSNSTLBOX
