Yeah, that code is not using the DMP and is just returning raw values from the sensor. So the sketch is working correctly. If you want to output values that have units and mean something, try using this code.https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/Examples/MPU6050_DMP6/MPU6050_DMP6.inoThis is the code that uses the DMP to output values in G-force and degrees of rotation.The code you are using is just the individual raw values from the the accelerometer and gyro. The DMP code uses a fusion algorithm use the data from both the acclerometer AND gyro together to get much more accurate accleration and angle measurements than you get from the individual sensors. The calculations are being done on the DMP of the sensor though, so we can't really see what is going, its a black box to us.The code from the FreeIMU library does not use the DMP, but uses its own fusion algorithm to determine the orientation of the sensor, and from what I can tell is at least as accurate and faster than the DMP code. I would start with getting the DMP code working first though and see if you are happy with it or not before moving on.Good luck.