Clean, straight-forward MPU-6050 code

Are you sure you are using version 1.0.3 ?
I seems you have a version older than 1.0.
Perhaps you can install it again.

Which board are you using, "Due" or "Uno" or "Duemilanove".

I don't have a "Due" myself, but I could at least make the compiler run.
I have tested 1.0.3 with the "Uno" once again, and it compiles but has a lot warnings. I have to fix that someday.