MPU6050 code explanation

I’ve a library of MPU6050.h and I’m facing bit problem to understand the whole code

Can anyone pls explain the code line by line? So, that i can work on it…

Thank you

MPU6050.h (7.85 KB)

Why doing you start by explaining to us all the lines that you do understand? Then perhaps someone will help with the rest.

Steve

As I'm trying to balance the drone by using this code.

So, Which line coding should i know about? what happens when bool condition in line 176 and 180 is falsed and true? in both condition.

What happens in Self test?

what happens when bool condition in line 176 and 180 is falsed and true?

Not possible, so don't worry about it.