The MPU6050 receives a program (Embedded MotionDriver) provided by the arduino which my understanding of it takes every reading and calculates the output this is filtered to remove noise within this program. the current version of Jeffs code uses an older version of the Embedded MotionDriver that nicely fits within an arduino UNO's memory. I've attempted to alter jeffs code to take the latest version of the program but ran out of memory for anything else.
The latest MPU6050 DMP FIFO code cam be found at: Software Downloads | InvenSense Developers
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Embedded MotionDriver 6.12
Embedded MotionDriver 6.12 is our first ever 9-axis solution not locked to a specific MCU.Version 6.1.2 is an update to 6.1 that includes bug fixes and new libraries. This release is supported across all ARM Mx core architectures and supports the InvenSense MPU-6000, 6050, 6500, 9150, and 9250. The release includes optimized libraries and example projects for M3 and M4 cores as well the generic ARM library for any Mx core and an additional library and project for the TI MSP430. eMD 6.1 also includes a Python client for both visualizing the sensor performance and commands for printing data. This solution will allow you to easily leverage and configure numerous features of the DMP and also benefit from dynamic features in the MPL software library. Libraries specific to IAR, Keil, and GCC are included.
The code has much of what Jeff did although it will certainly be to big for an UNO without simplifying it as Jeff did.
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