Twice

So I recently came across Giuseppe Torre's AHRS Max Library, and as fantastic as it is, there's not much literature on it to aid me to use it... in particularly the Giro orientation patch. I was wondering if anybody a) knew of any literature on understand how to use this patch, or b) had some time they wouldn't mind spending on helping me to understand it? I've got the gyro signals (xyz) coming into max fine from my arduino and MPU 6050 setup, but get stuck when trying to implement it with the gyro patch.

http://www.muresearchlab.com/?/softwares/AHRS/

So I recently came across Giuseppe Torre's AHRS Max Library, and as fantastic as it is, there's not much literature on it to aid me to use it... in particularly the Giro orientation patch. I was wondering if anybody a) knew of any literature on understand how to use this patch, or b) had some time they wouldn't mind spending on helping me to understand it? I've got the gyro signals (xyz) coming into max fine from my arduino and MPU 6050 setup, but get stuck when trying to implement it with the gyro patch. 

Anything at all would be a massive help! 

The library can be found here: http://www.muresearchlab.com/?/softwares/AHRS/

AHRS Max Library - Gyro Orientation