MPU6050 help, I need polling not instantaneous values

Hi! I hope someone can give me a hand with this. Im using the MPU libraries by jeff rowberg (https://github.com/jrowberg/i2cdevlib/blob/master/Arduino/MPU6050/Examples/MPU6050_DMP6/MPU6050_DMP6.ino) and the DMP example code specifically.

I am having some doubts, though. My project just needs the yaw value, but if I leave the code in loop(), it makes everything significantly slower. Besides, I dont need updates so quickly. I just need an update after I type command for example. I dont really understand how the DMP works, but is it possibly that I just let it go its way processing and calculating and just when I need it I poll it for the yaw. If so, how would I do it?

Thanks!