I just updated the MPU-6050 code. The changes newest code can be found in the Github repository: https://github.com/TKJElectronics/Example-Sketch-for-IMU-including-Kalman-filter/tree/master/IMU6DOF/MPU6050.
// Bypass mode while (i2cWrite(MPU6050, 0x6A, 0x00, true)); while (i2cWrite(MPU6050, 0x37, 0x02, true));
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