Thanks for the answer iohannes,

actually, libcwiid is considered dead [1], so i think that [wiimote]
should be re-implemented (as an abstraction building on [hid]).

So, you meant your [wiimote] also dead? but it still works for me, except motionplus.

If it totally dead(or will dead), which is best way to use wii remote(+motionplus) on PD and Linux currently?

i think it looks fine.
AFAIR (but keep in mind that it has been a *long* time), the "low_speed"
message gives you a boolean value (1 or 0), whether the "angle_rate
values" should be interpreted as high-speed or low-speed. since i
haven't found any documentation what "high-speed" vs "low-speed"
actually means in hard numbers, this has been exposed to the patch.

I think [wiimote] still works, and if possible, I wanna get the more precised orientation(pitch, roll, yaw) from [wiimote] and motionplus. I have already the orientation from acceleration, but from gyro(motionplus) has better quality.

I have to calculate the *angle_rate* and *low_speed* to get the orientation, but I don't know how to get the orientation from motionplus.

Could you give me any clew? or any suggest?

Many thanks,

Jonghyun Kim