MPU6050 Vibration noise filtering - DLPF and Kalman Filter

[Idahowalker]

Of course you could improve the code you pasted, you know the code you want improved, by changing the code on lines 0 to 3000 to... Well, actually, it would be near impossible to describe to you how to improve your code, WITHOUT BEING ABLE TO LOOK AT YOUR CODE! You are welcome.