MPU6050 DMP read times?

Hi! I'm using an Arduino UNO with two MPU6050 (GY521) in order to get the angle difference between them. I'm reading the DMP processed values, but the problem is that it takes +-13ms at 100Khz or 7ms at 400Khz to get the quaternion data from both of them and I need to get the values at a faster rate, like 2-3ms or faster.

I'm connecting both MPU6050 on the same I2C line, on at 0x68 and the other at 0x69; Using Jeff's library with Chuck's modified I2C library too.

void loop()

{

   ReadTimer=millis();
   if(mpu.getFIFOCount() >= packetSize)
   {
    mpu.getFIFOBytes(fifoBuffer, packetSize);
    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.resetFIFO();
    if(mpu2.getFIFOCount() >= packetSize2)
    {
      mpu2.getFIFOBytes(fifoBuffer2, packetSize2);
      mpu2.dmpGetQuaternion(&q2, fifoBuffer2);
      mpu2.resetFIFO();
      xDiffer=(q.x+offsetA)-(q2.x+offsetB);
      Serial.print("xDiffer: ");
      Serial.print(xDiffer);
      currentTime=millis();
      elapsedTime=currentTime-ReadTimer;
      Serial.print("  Time: ");
      Serial.print(elapsedTime);
    }
}

Are these reading periods expected or can I do something about them?