Increasing GY-521 (MPU-6050) speed

Im building a quadcopter and im running into some issues with the MPU 6050.

The raw values were noisy so I averaged some readings... But one reading takes ~1.84 milliseconds... which is too long when controlling a quad.

Im using the example code from the playground. Arduino Playground - MPU-6050 I kept the code default and im just taking raw values.

Does anyone understand how I can either increase the I2C speed, or preferably use data smoothing features on the MPU-6050 itself?

-Nick

You can increase I2C speed (whether or not that is a good idea remains to be tested):

Do you use a Kalman or complementary filter ?

The MPU-6050 can use a I2C speed up to 400kHz.
The Arduino Wire library uses default 100kHz.