I found this on the web and after a few days of code shifting it works on a Mega2560.
This is not my code by a far stretch and I'm posting this because I haven't seen it posted before. It gives an alternative to other libraries floating around that some people here might want to investigate.
The website is https://www.kauailabs.com/robotics/kauai-labs-releases-port-of-latest-invensense-mpu-60509150-driver-to-arduino-platform/#comment-11259
The code is written for their platform based on an Atmega128. It also has a compass function which I commented out.
I commented out some of the code and added some as indicated. I use MS VS with the vMicro addon. I use an xbee to transmit on Serial3. and the Serial Monitor on Serial. See attachments for jpegs.
It's been running for hours and hasn't stopped yet.
I haven't figured it all out yet. It seems they can send info to the code to change parameters, also commented out.
Anyway, I have included everything in the attachment at Zippyshare.com - since it is 17 megs in size.
Have Fun
