setup() {
    console.log(chalk.green("Setting up connection parameters"));
    MetaWear.mbl_mw_settings_set_connection_parameters(this.device.board, 7.5, 7.5, 0, 6000);
    MetaWear.mbl_mw_settings_set_tx_power(this.device.board, 4);

    console.log(chalk.green("Setting up acc"));
    MetaWear.mbl_mw_acc_set_odr(this.device.board, 100.0);
    MetaWear.mbl_mw_acc_set_range(this.device.board, 8.0);
    MetaWear.mbl_mw_acc_write_acceleration_config(this.device.board);

    console.log(chalk.green("Setting up gyro"));
    MetaWear.mbl_mw_gyro_bmi160_set_range(this.device.board, MetaWear.GyroBmi160Range._2000dps);
    MetaWear.mbl_mw_gyro_bmi160_set_odr(this.device.board, MetaWear.GyroBmi160Odr._50Hz);
    MetaWear.mbl_mw_gyro_bmi160_write_config(this.device.board);

    console.log(chalk.green("Getting data signals"));
    let acc = MetaWear.mbl_mw_acc_get_acceleration_data_signal(this.device.board);
    let gyro = MetaWear.mbl_mw_gyro_bmi160_get_rotation_data_signal(this.device.board);

    //batt signal is called separetly (not by data fuser)
    this.battDataPointer = MetaWear.mbl_mw_settings_get_battery_state_data_signal(this.device.board);

    console.log(chalk.green("Creating data fuser"));
    var start_time = new Date().getTime();
    var data_signals = [gyro];
    let fuser =  new Promise((resolve, reject) => {
            MetaWear.mbl_mw_dataprocessor_fuser_create(
                acc,
                new MetaWear.ArrayDataSignalP(data_signals),
                data_signals.length,
                ref.NULL,
                MetaWear.FnVoid_VoidP_DataProcessorP.toPointer(
                    (ctx, pointer) => {
                        var time_elapsed_ms = new Date().getTime() - start_time
                        if(time_elapsed_ms < 1000) {
                            if (!pointer) {
                                console.log(chalk.red("Fuser failed!"));
                                reject("Failed to create fuser");
                            } else {
                                console.log(chalk.green("Fuser created!"));
                                this.sensorDataPointer = pointer
                                resolve();
                            }
                        } else {
                            reject("Time elapsed during creating fuser. Reseting device!")
                        }
                    }
                )
            )
        }
    ).then(() => {
        console.log(chalk.green("Configuring disconnect macro"));
        var disconnect_event = MetaWear.mbl_mw_settings_get_disconnect_event(this.device.board)
        MetaWear.mbl_mw_event_record_commands(disconnect_event);
        MetaWear.mbl_mw_gyro_bmi160_stop(this.device.board);
        MetaWear.mbl_mw_acc_stop(this.device.board);
        MetaWear.mbl_mw_baro_bosch_stop(this.device.board);
        MetaWear.mbl_mw_event_end_record(
            disconnect_event,
            ref.NULL,
            MetaWear.FnVoid_VoidP_EventP_Int.toPointer(
                (ctx, event, status) => {
                    console.log(chalk.green("Registered disconnect event"));
                }
            )
        )
    }
).then(() => {
            console.log(chalk.green("Subscribing to data"));
            MetaWear.mbl_mw_datasignal_subscribe(
                this.sensorDataPointer,
                ref.NULL,
                MetaWear.FnVoid_VoidP_DataP.toPointer(
                    (ctx, pointer) => {
                        var data = pointer.deref();
                        //var values = data.parseValue({'nElem': 3});
                        //Workaround of issue https://github.com/mbientlab/MetaWear-SDK-JavaScript/issues/15
                        var nElem = 2
                        var values = []
                        var value = ref.reinterpret(data.value, data.length, 0);
                        let offset = data.length / nElem

                        for(var i = 0; i < nElem; i++) {
                            values.push(ref.get(value, offset * i, ref.refType(MetaWear.Data)).deref().parseValue())
                        }
                        //End of workaround
                        var index = this.get_mqtt_package_index();

                        mqtt_package.add_epoch(index, data.epoch);
                        mqtt_package.add_acc_data(index, values[0].x, values[0].y, values[0].z);
                        mqtt_package.add_gyro_data(index, values[1].x, values[1].y, values[1].z);
                        mqtt_package.add_pressure_data(index, 0);
                    }
                )
            )
        }
    ).then(() => {
            MetaWear.mbl_mw_datasignal_subscribe(
                this.battDataPointer,
                ref.NULL,
                MetaWear.FnVoid_VoidP_DataP.toPointer(
                    (ctx, pointer) => {
                        var data = pointer.deref();
                        var batt = data.parseValue();
                        this.battVoltageValue = batt.voltage;
                        this.battChargeValue = batt.charge;
                        this.update_batt_and_rssi();
                    }
                )
            )
            this.trigger_batt_update();
        }
    ).then(() => {
            console.log(chalk.green("Start sensors"));
            MetaWear.mbl_mw_gyro_bmi160_enable_rotation_sampling(this.device.board)
            MetaWear.mbl_mw_acc_enable_acceleration_sampling(this.device.board)

            MetaWear.mbl_mw_gyro_bmi160_start(this.device.board)
            MetaWear.mbl_mw_acc_start(this.device.board)

            MetaWear.mbl_mw_baro_bosch_start(this.device.board)

            this.mqttDataSamplesCountArray = Array(3).fill(100)
            this.status = 'configured'
        }
    ).catch(error => {
            MetaWear.mbl_mw_debug_reset(this.device.board);
            console.log(error);
        }
    )
    return fuser
}