diff --git a/baseflight.uvopt b/baseflight.uvopt
index a96357489..f06c5760b 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -73,7 +73,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
+        <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>255</CpuCode>
       <Books>
@@ -157,6 +157,23 @@
           <Name>-UV0168AVR -O206 -S8 -C0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC72000000 -TP21 -TDS803D -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO11 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>461</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134248194</Address>
+          <ByteObject>0</ByteObject>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename></Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\baseflight\src/drv_mpu6050.c\461</Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -180,6 +197,27 @@
           <WinNumber>1</WinNumber>
           <ItemText>rcData,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>incoming</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dmpdata
+</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dmpdata</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dmp_fifoCountL</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
@@ -279,7 +317,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>255</CpuCode>
       <Books>
@@ -488,10 +526,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>37</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
-      <CurrentLine>1</CurrentLine>
+      <TopLine>523</TopLine>
+      <CurrentLine>523</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\cli.c</PathWithFileName>
       <FilenameWithoutPath>cli.c</FilenameWithoutPath>
@@ -502,10 +540,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>56</ColumnNumber>
+      <ColumnNumber>20</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
-      <CurrentLine>21</CurrentLine>
+      <TopLine>149</TopLine>
+      <CurrentLine>162</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\config.c</PathWithFileName>
       <FilenameWithoutPath>config.c</FilenameWithoutPath>
@@ -519,7 +557,7 @@
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
       <TopLine>50</TopLine>
-      <CurrentLine>56</CurrentLine>
+      <CurrentLine>62</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\imu.c</PathWithFileName>
       <FilenameWithoutPath>imu.c</FilenameWithoutPath>
@@ -530,10 +568,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>25</ColumnNumber>
+      <ColumnNumber>43</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>34</TopLine>
-      <CurrentLine>44</CurrentLine>
+      <TopLine>35</TopLine>
+      <CurrentLine>51</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
@@ -558,10 +596,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>12</ColumnNumber>
+      <ColumnNumber>21</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>39</TopLine>
-      <CurrentLine>50</CurrentLine>
+      <TopLine>560</TopLine>
+      <CurrentLine>587</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mw.c</PathWithFileName>
       <FilenameWithoutPath>mw.c</FilenameWithoutPath>
@@ -586,10 +624,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>20</ColumnNumber>
+      <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>1</TopLine>
-      <CurrentLine>1</CurrentLine>
+      <TopLine>205</TopLine>
+      <CurrentLine>209</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\serial.c</PathWithFileName>
       <FilenameWithoutPath>serial.c</FilenameWithoutPath>
@@ -603,7 +641,7 @@
       <ColumnNumber>18</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
       <TopLine>1</TopLine>
-      <CurrentLine>7</CurrentLine>
+      <CurrentLine>20</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\board.h</PathWithFileName>
       <FilenameWithoutPath>board.h</FilenameWithoutPath>
@@ -616,12 +654,26 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>242</TopLine>
-      <CurrentLine>269</CurrentLine>
+      <TopLine>248</TopLine>
+      <CurrentLine>280</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mw.h</PathWithFileName>
       <FilenameWithoutPath>mw.h</FilenameWithoutPath>
     </File>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>0</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <Focus>0</Focus>
+      <ColumnNumber>1</ColumnNumber>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <TopLine>35</TopLine>
+      <CurrentLine>71</CurrentLine>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\src\gps.c</PathWithFileName>
+      <FilenameWithoutPath>gps.c</FilenameWithoutPath>
+    </File>
   </Group>
 
   <Group>
@@ -691,10 +743,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>27</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>167</TopLine>
+      <CurrentLine>167</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_i2c.c</PathWithFileName>
       <FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath>
@@ -717,7 +769,7 @@
       <GroupNumber>2</GroupNumber>
       <FileNumber>17</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <Focus>0</Focus>
       <ColumnNumber>1</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -735,8 +787,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>37</TopLine>
+      <CurrentLine>43</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_system.c</PathWithFileName>
       <FilenameWithoutPath>drv_system.c</FilenameWithoutPath>
@@ -773,12 +825,12 @@
       <GroupNumber>2</GroupNumber>
       <FileNumber>21</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>13</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>421</TopLine>
+      <CurrentLine>451</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_mpu6050.c</PathWithFileName>
       <FilenameWithoutPath>drv_mpu6050.c</FilenameWithoutPath>
@@ -938,8 +990,8 @@
       <Focus>0</Focus>
       <ColumnNumber>32</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>269</TopLine>
-      <CurrentLine>291</CurrentLine>
+      <TopLine>0</TopLine>
+      <CurrentLine>0</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_gpio.c</PathWithFileName>
       <FilenameWithoutPath>stm32f10x_gpio.c</FilenameWithoutPath>
@@ -966,8 +1018,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>133</TopLine>
+      <CurrentLine>133</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\baseflight_startups\startup_stm32f10x_md.s</PathWithFileName>
       <FilenameWithoutPath>startup_stm32f10x_md.s</FilenameWithoutPath>
diff --git a/baseflight.uvproj b/baseflight.uvproj
index c135a1158..74169686d 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -436,6 +436,11 @@
               <FileType>5</FileType>
               <FilePath>.\src\mw.h</FilePath>
             </File>
+            <File>
+              <FileName>gps.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\gps.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -1054,6 +1059,11 @@
               <FileType>5</FileType>
               <FilePath>.\src\mw.h</FilePath>
             </File>
+            <File>
+              <FileName>gps.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\gps.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index ef0a55efe..83c8b7f98 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
@@ -1,80 +1,80 @@
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diff --git a/src/cli.c b/src/cli.c
index 500be53da..70618117d 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -39,6 +39,11 @@ const char *featureNames[] = {
     NULL
 };
 
+// sync this with AvailableSensors enum from board.h
+const char *sensorNames[] = {
+    "ACC", "BARO", "MAG", "SONAR", "GPS", NULL
+};
+
 typedef struct {
     char *name;
     char *param;
@@ -186,7 +191,7 @@ static void cliFeature(char *cmdline)
     uint8_t i;
     uint8_t len;
     uint32_t mask;
-    
+
     len = strlen(cmdline);
     mask = featureMask();
 
@@ -424,6 +429,9 @@ static void cliSet(char *cmdline)
 static void cliStatus(char *cmdline)
 {
     char buf[16];
+    uint8_t i;
+    uint32_t mask;
+
     uartPrint("System Uptime: ");
     itoa(millis() / 1000, buf, 10);
     uartPrint(buf);
@@ -434,6 +442,19 @@ static void cliStatus(char *cmdline)
     itoa(batteryCellCount, buf, 10);
     uartPrint(buf);
     uartPrint("S battery)\r\n");
+
+    mask = sensorsMask();
+
+    uartPrint("Detected sensors: ");
+    for (i = 0; ; i++) {
+        if (sensorNames[i] == NULL)
+            break;
+        if (mask & (1 << i))
+            uartPrint((char *)sensorNames[i]);
+        uartWrite(' ');
+    }
+    uartPrint("\r\n");
+
     uartPrint("Cycle Time: ");
     itoa(cycleTime, buf, 10);
     uartPrint(buf);
diff --git a/src/config.c b/src/config.c
index 902cedb31..31071351d 100755
--- a/src/config.c
+++ b/src/config.c
@@ -159,6 +159,11 @@ void sensorsClear(uint32_t mask)
     enabledSensors &= ~(mask);
 }
 
+uint32_t sensorsMask(void)
+{
+    return enabledSensors;
+}
+
 bool feature(uint32_t mask)
 {
     return cfg.enabledFeatures & mask;
diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c
index 6031b6300..4d6ba8754 100644
--- a/src/drv_mpu6050.c
+++ b/src/drv_mpu6050.c
@@ -2,32 +2,141 @@
 
 // MPU6050, Standard address 0x68
 #define MPU6050_ADDRESS         0x68
-#define MPU6050_WHO_AM_I        0x75
-#define MPU6050_SMPLRT_DIV      0  //8000Hz
+// Experimental DMP support
+// #define MPU6050_DMP
+
+#define DMP_MEM_START_ADDR 0x6E
+#define DMP_MEM_R_W 0x6F
+
+#define INV_MAX_NUM_ACCEL_SAMPLES      (8)
+#define DMP_REF_QUATERNION             (0)
+#define DMP_REF_GYROS                  (DMP_REF_QUATERNION + 4) // 4
+#define DMP_REF_CONTROL                (DMP_REF_GYROS + 3)      // 7
+#define DMP_REF_RAW                    (DMP_REF_CONTROL + 4)    // 11
+#define DMP_REF_RAW_EXTERNAL           (DMP_REF_RAW + 8)        // 19
+#define DMP_REF_ACCEL                  (DMP_REF_RAW_EXTERNAL + 6)       // 25
+#define DMP_REF_QUANT_ACCEL            (DMP_REF_ACCEL + 3)      // 28
+#define DMP_REF_QUATERNION_6AXIS       (DMP_REF_QUANT_ACCEL + INV_MAX_NUM_ACCEL_SAMPLES)        // 36
+#define DMP_REF_EIS                    (DMP_REF_QUATERNION_6AXIS + 4)   // 40
+#define DMP_REF_DMP_PACKET             (DMP_REF_EIS + 3)        // 43
+#define DMP_REF_GARBAGE                (DMP_REF_DMP_PACKET + 1) // 44
+#define DMP_REF_LAST                   (DMP_REF_GARBAGE + 1)    // 45
+
+#define MPU_RA_XG_OFFS_TC       0x00    //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU_RA_YG_OFFS_TC       0x01    //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU_RA_ZG_OFFS_TC       0x02    //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
+#define MPU_RA_X_FINE_GAIN      0x03    //[7:0] X_FINE_GAIN
+#define MPU_RA_Y_FINE_GAIN      0x04    //[7:0] Y_FINE_GAIN
+#define MPU_RA_Z_FINE_GAIN      0x05    //[7:0] Z_FINE_GAIN
+#define MPU_RA_XA_OFFS_H        0x06    //[15:0] XA_OFFS
+#define MPU_RA_XA_OFFS_L_TC     0x07
+#define MPU_RA_YA_OFFS_H        0x08    //[15:0] YA_OFFS
+#define MPU_RA_YA_OFFS_L_TC     0x09
+#define MPU_RA_ZA_OFFS_H        0x0A    //[15:0] ZA_OFFS
+#define MPU_RA_ZA_OFFS_L_TC     0x0B
+#define MPU_RA_XG_OFFS_USRH     0x13    //[15:0] XG_OFFS_USR
+#define MPU_RA_XG_OFFS_USRL     0x14
+#define MPU_RA_YG_OFFS_USRH     0x15    //[15:0] YG_OFFS_USR
+#define MPU_RA_YG_OFFS_USRL     0x16
+#define MPU_RA_ZG_OFFS_USRH     0x17    //[15:0] ZG_OFFS_USR
+#define MPU_RA_ZG_OFFS_USRL     0x18
+#define MPU_RA_SMPLRT_DIV       0x19
+#define MPU_RA_CONFIG           0x1A
+#define MPU_RA_GYRO_CONFIG      0x1B
+#define MPU_RA_ACCEL_CONFIG     0x1C
+#define MPU_RA_FF_THR           0x1D
+#define MPU_RA_FF_DUR           0x1E
+#define MPU_RA_MOT_THR          0x1F
+#define MPU_RA_MOT_DUR          0x20
+#define MPU_RA_ZRMOT_THR        0x21
+#define MPU_RA_ZRMOT_DUR        0x22
+#define MPU_RA_FIFO_EN          0x23
+#define MPU_RA_I2C_MST_CTRL     0x24
+#define MPU_RA_I2C_SLV0_ADDR    0x25
+#define MPU_RA_I2C_SLV0_REG     0x26
+#define MPU_RA_I2C_SLV0_CTRL    0x27
+#define MPU_RA_I2C_SLV1_ADDR    0x28
+#define MPU_RA_I2C_SLV1_REG     0x29
+#define MPU_RA_I2C_SLV1_CTRL    0x2A
+#define MPU_RA_I2C_SLV2_ADDR    0x2B
+#define MPU_RA_I2C_SLV2_REG     0x2C
+#define MPU_RA_I2C_SLV2_CTRL    0x2D
+#define MPU_RA_I2C_SLV3_ADDR    0x2E
+#define MPU_RA_I2C_SLV3_REG     0x2F
+#define MPU_RA_I2C_SLV3_CTRL    0x30
+#define MPU_RA_I2C_SLV4_ADDR    0x31
+#define MPU_RA_I2C_SLV4_REG     0x32
+#define MPU_RA_I2C_SLV4_DO      0x33
+#define MPU_RA_I2C_SLV4_CTRL    0x34
+#define MPU_RA_I2C_SLV4_DI      0x35
+#define MPU_RA_I2C_MST_STATUS   0x36
+#define MPU_RA_INT_PIN_CFG      0x37
+#define MPU_RA_INT_ENABLE       0x38
+#define MPU_RA_DMP_INT_STATUS   0x39
+#define MPU_RA_INT_STATUS       0x3A
+#define MPU_RA_ACCEL_XOUT_H     0x3B
+#define MPU_RA_ACCEL_XOUT_L     0x3C
+#define MPU_RA_ACCEL_YOUT_H     0x3D
+#define MPU_RA_ACCEL_YOUT_L     0x3E
+#define MPU_RA_ACCEL_ZOUT_H     0x3F
+#define MPU_RA_ACCEL_ZOUT_L     0x40
+#define MPU_RA_TEMP_OUT_H       0x41
+#define MPU_RA_TEMP_OUT_L       0x42
+#define MPU_RA_GYRO_XOUT_H      0x43
+#define MPU_RA_GYRO_XOUT_L      0x44
+#define MPU_RA_GYRO_YOUT_H      0x45
+#define MPU_RA_GYRO_YOUT_L      0x46
+#define MPU_RA_GYRO_ZOUT_H      0x47
+#define MPU_RA_GYRO_ZOUT_L      0x48
+#define MPU_RA_EXT_SENS_DATA_00 0x49
+#define MPU_RA_MOT_DETECT_STATUS    0x61
+#define MPU_RA_I2C_SLV0_DO      0x63
+#define MPU_RA_I2C_SLV1_DO      0x64
+#define MPU_RA_I2C_SLV2_DO      0x65
+#define MPU_RA_I2C_SLV3_DO      0x66
+#define MPU_RA_I2C_MST_DELAY_CTRL   0x67
+#define MPU_RA_SIGNAL_PATH_RESET    0x68
+#define MPU_RA_MOT_DETECT_CTRL      0x69
+#define MPU_RA_USER_CTRL        0x6A
+#define MPU_RA_PWR_MGMT_1       0x6B
+#define MPU_RA_PWR_MGMT_2       0x6C
+#define MPU_RA_BANK_SEL         0x6D
+#define MPU_RA_MEM_START_ADDR   0x6E
+#define MPU_RA_MEM_R_W          0x6F
+#define MPU_RA_DMP_CFG_1        0x70
+#define MPU_RA_DMP_CFG_2        0x71
+#define MPU_RA_FIFO_COUNTH      0x72
+#define MPU_RA_FIFO_COUNTL      0x73
+#define MPU_RA_FIFO_R_W         0x74
+#define MPU_RA_WHO_AM_I         0x75
+
+#define MPU6050_SMPLRT_DIV      0       //8000Hz
 #define MPU6050_DLPF_CFG        0
-#define MPU6050_GYRO_OUT        0x43
-#define MPU6050_ACC_OUT         0x3B
 
 static void mpu6050AccInit(void);
-static void mpu6050AccRead(int16_t *accData);
-static void mpu6050AccAlign(int16_t *accData);
+static void mpu6050AccRead(int16_t * accData);
+static void mpu6050AccAlign(int16_t * accData);
 static void mpu6050GyroInit(void);
-static void mpu6050GyroRead(int16_t *gyroData);
-static void mpu6050GyroAlign(int16_t *gyroData);
+static void mpu6050GyroRead(int16_t * gyroData);
+static void mpu6050GyroAlign(int16_t * gyroData);
+
+#ifdef MPU6050_DMP
+static void mpu6050DmpInit(void);
+#endif
 
 extern uint16_t acc_1G;
 
-bool mpu6050Detect(sensor_t *acc, sensor_t *gyro)
+bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
 {
     bool ack;
     uint8_t sig;
 
-    delay(35); // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe
+    delay(35);                  // datasheet page 13 says 30ms. other stuff could have been running meanwhile. but we'll be safe
 
-    ack = i2cRead(MPU6050_ADDRESS, MPU6050_WHO_AM_I, 1, &sig);
+    ack = i2cRead(MPU6050_ADDRESS, MPU_RA_WHO_AM_I, 1, &sig);
     if (!ack)
         return false;
-    
+
     if (sig != MPU6050_ADDRESS)
         return false;
 
@@ -38,29 +147,37 @@ bool mpu6050Detect(sensor_t *acc, sensor_t *gyro)
     gyro->read = mpu6050GyroRead;
     gyro->align = mpu6050GyroAlign;
 
+#ifdef MPU6050_DMP
+    mpu6050DmpInit();
+#endif
+
     return true;
 }
 
 static void mpu6050AccInit(void)
 {
-    i2cWrite(MPU6050_ADDRESS, 0x1C, 0x10);             // ACCEL_CONFIG  -- AFS_SEL=2 (Full Scale = +/-8G)  ; ACCELL_HPF=0   //note something is wrong in the spec.
+#ifndef MPU6050_DMP
+    i2cWrite(MPU6050_ADDRESS, 0x1C, 0x10);      // ACCEL_CONFIG  -- AFS_SEL=2 (Full Scale = +/-8G)  ; ACCELL_HPF=0   //note something is wrong in the spec.
+#endif
     // note: something seems to be wrong in the spec here. With AFS=2 1G = 4096 but according to my measurement: 1G=2048 (and 2048/8 = 256)
     // confirmed here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1080&start=10#p7480
     // seems to be not a problem on MPU6000 lol
     acc_1G = 1023;
 }
 
-static void mpu6050AccRead(int16_t *accData)
+static void mpu6050AccRead(int16_t * accData)
 {
     uint8_t buf[6];
-    
-    i2cRead(MPU6050_ADDRESS, MPU6050_ACC_OUT, 6, buf);
+
+#ifndef MPU6050_DMP
+    i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf);
+#endif
     accData[0] = (buf[0] << 8) | buf[1];
     accData[1] = (buf[2] << 8) | buf[3];
     accData[2] = (buf[4] << 8) | buf[5];
 }
 
-static void mpu6050AccAlign(int16_t *accData)
+static void mpu6050AccAlign(int16_t * accData)
 {
     int16_t temp[2];
     temp[0] = accData[0];
@@ -74,27 +191,496 @@ static void mpu6050AccAlign(int16_t *accData)
 
 static void mpu6050GyroInit(void)
 {
-    i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80);             //PWR_MGMT_1    -- DEVICE_RESET 1
+#ifndef MPU6050_DMP
+    i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
     delay(5);
-    i2cWrite(MPU6050_ADDRESS, 0x19, 0x00);             //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
-    i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG); //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
-    i2cWrite(MPU6050_ADDRESS, 0x6B, 0x03);             //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
-    i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18);             //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
+    i2cWrite(MPU6050_ADDRESS, 0x19, 0x00);      //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+    i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG);  //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
+    i2cWrite(MPU6050_ADDRESS, 0x6B, 0x03);      //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
+    i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18);      //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
+#endif
 }
 
-static void mpu6050GyroRead(int16_t *gyroData)
+static void mpu6050GyroRead(int16_t * gyroData)
 {
     uint8_t buf[6];
-    i2cRead(MPU6050_ADDRESS, MPU6050_GYRO_OUT, 6, buf);
+#ifndef MPU6050_DMP
+    i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf);
+#endif
     gyroData[0] = (buf[0] << 8) | buf[1];
     gyroData[1] = (buf[2] << 8) | buf[3];
     gyroData[2] = (buf[4] << 8) | buf[5];
 }
 
-static void mpu6050GyroAlign(int16_t *gyroData)
+static void mpu6050GyroAlign(int16_t * gyroData)
 {
     // official direction is RPY
     gyroData[0] = gyroData[0] / 4;
     gyroData[1] = gyroData[1] / 4;
     gyroData[2] = -gyroData[2] / 4;
 }
+
+#ifdef MPU6050_DMP
+
+//This 3D array contains the default DMP memory bank binary that gets loaded during initialization.
+//In the Invensense UC3-A3 firmware this is uploaded in 128 byte tranmissions, but the Arduino Wire
+//library only supports 32 byte transmissions, including the register address to which you're writing,
+//so I broke it up into 16 byte transmission payloads which are sent in the dmp_init() function below.
+//
+//This was reconstructed from observed I2C traffic generated by the UC3-A3 demo code, and not extracted
+//directly from that code. That is true of all transmissions in this sketch, and any documentation has
+//been added after the fact by referencing the Invensense code.
+
+const unsigned char dmpMem[8][16][16] = {
+    {
+     {0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00},
+     {0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01},
+     {0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01},
+     {0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00},
+     {0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00},
+     {0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82},
+     {0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00},
+     {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0},
+     {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC},
+     {0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4},
+     {0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10}
+     },
+    {
+     {0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8},
+     {0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7},
+     {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C},
+     {0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C},
+     {0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0}
+     },
+    {
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00},
+     {0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
+     {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
+     },
+    {
+     {0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F},
+     {0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2},
+     {0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF},
+     {0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C},
+     {0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1},
+     {0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01},
+     {0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80},
+     {0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C},
+     {0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80},
+     {0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E},
+     {0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9},
+     {0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24},
+     {0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0},
+     {0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86},
+     {0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1},
+     {0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86}
+     },
+    {
+     {0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA},
+     {0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C},
+     {0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8},
+     {0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3},
+     {0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84},
+     {0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5},
+     {0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3},
+     {0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1},
+     {0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5},
+     {0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D},
+     {0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
+     {0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D},
+     {0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
+     {0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A},
+     {0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8},
+     {0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87}
+     },
+    {
+     {0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8},
+     {0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68},
+     {0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D},
+     {0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94},
+     {0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA},
+     {0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56},
+     {0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9},
+     {0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA},
+     {0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A},
+     {0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60},
+     {0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97},
+     {0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04},
+     {0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78},
+     {0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79},
+     {0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68},
+     {0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68}
+     },
+    {
+     {0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04},
+     {0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66},
+     {0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31},
+     {0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60},
+     {0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76},
+     {0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56},
+     {0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD},
+     {0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91},
+     {0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8},
+     {0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE},
+     {0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9},
+     {0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD},
+     {0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E},
+     {0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8},
+     {0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89},
+     {0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79}
+     },
+    {
+     {0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8},
+     {0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA},
+     {0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB},
+     {0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3},
+     {0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3},
+     {0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3},
+     {0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3},
+     {0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC},
+     {0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF}
+     }
+};
+
+
+//DMP update transmissions (Bank, Start Address, Update Length, Update Data...)
+
+const uint8_t dmp_updates[29][9] = {
+    {0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C},       //FCFG_1 inv_set_gyro_calibration
+    {0x03, 0xAB, 0x03, 0x36, 0x56, 0x76},       //FCFG_3 inv_set_gyro_calibration
+    {0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2}, //D_0_104 inv_set_gyro_calibration
+    {0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1}, //D_0_24 inv_set_gyro_calibration
+    {0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00}, //D_1_152 inv_set_accel_calibration
+    {0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97},     //FCFG_2 inv_set_accel_calibration
+    {0x03, 0x89, 0x03, 0x26, 0x46, 0x66},       //FCFG_7 inv_set_accel_calibration
+    {0x00, 0x6C, 0x02, 0x20, 0x00},     //D_0_108 inv_set_accel_calibration
+    {0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00}, //CPASS_MTX_00 inv_set_compass_calibration
+    {0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00}, //CPASS_MTX_01
+    {0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00}, //CPASS_MTX_02
+    {0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00}, //CPASS_MTX_10
+    {0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00}, //CPASS_MTX_11
+    {0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00}, //CPASS_MTX_12
+    {0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00}, //CPASS_MTX_20
+    {0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00}, //CPASS_MTX_21
+    {0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00}, //CPASS_MTX_22
+    {0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00}, //D_1_236 inv_apply_endian_accel
+    {0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97},     //FCFG_2 inv_set_mpu_sensors
+    {0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D},       //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
+    {0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D}, //FCFG_5 inv_set_bias_update 
+    {0x00, 0xA3, 0x01, 0x00},   //D_0_163 inv_set_dead_zone
+    //SET INT_ENABLE at i=22
+    {0x07, 0x86, 0x01, 0xFE},   //CFG_6 inv_set_fifo_interupt
+    {0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38},   //CFG_8 inv_send_quaternion
+    {0x07, 0x7E, 0x01, 0x30},   //CFG_16 inv_set_footer
+    {0x07, 0x46, 0x01, 0x9A},   //CFG_GYRO_SOURCE inv_send_gyro
+    {0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38}, //CFG_9 inv_send_gyro -> inv_construct3_fifo
+    {0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38}, //CFG_12 inv_send_accel -> inv_construct3_fifo
+    {0x02, 0x16, 0x02, 0x00, 0x0A},     //D_0_22 inv_set_fifo_rate
+};
+
+
+static long dmp_lastRead = 0;
+static uint8_t dmp_processed_packet[8];
+static uint8_t dmp_received_packet[50];
+static uint8_t dmp_temp = 0;
+uint8_t dmp_fifoCountL = 0;
+static uint8_t dmp_fifoCountL2 = 0;
+static uint8_t dmp_packetCount = 0x00;
+static bool dmp_longPacket = false;
+static bool dmp_firstPacket = true;
+
+static void mpu6050DmpMemInit(void);
+static void mpu6050DmpBankSelect(uint8_t bank);
+static bool mpu6050DmpFifoReady(void);
+static void mpu6050DmpGetPacket(void);
+static void mpu6050DmpProcessQuat(void);
+static void mpu6050DmpResetFifo(void);
+
+static void mpu6050DmpInit(void)
+{
+    uint8_t temp = 0;
+
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0xC0); // device reset
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 0x00);
+    delay(10);
+
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x00);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_BANK_SEL, 0x70);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x06);
+    i2cRead(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 1, &temp);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_BANK_SEL, 0x00);
+
+    /*
+       dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_XG_OFFS_TC);
+       dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_YG_OFFS_TC);
+       dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_ZG_OFFS_TC);
+       dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_USER_CTRL);
+     */
+
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG, 0x32);        // I2C bypass enabled, latch int enabled, int read clear
+    i2cRead(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 1, &temp);
+    delay(5);
+
+    mpu6050DmpMemInit();
+    delay(20);
+}
+
+void mpu6050DmpLoop(void)
+{
+    uint8_t temp;
+    uint8_t buf[2];
+
+    if (mpu6050DmpFifoReady()) {
+        mpu6050DmpGetPacket();
+        
+        i2cRead(MPU6050_ADDRESS, MPU_RA_INT_STATUS, 1, &temp);
+        if (dmp_firstPacket) {
+            delay(1);
+            mpu6050DmpBankSelect(0x00);
+            
+            mpu6050DmpBankSelect(0x00); // bank
+            i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x60);
+            i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 4, "\x04\x00\x00\x00"); // data
+
+            mpu6050DmpBankSelect(0x01);
+            
+            i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x62);
+            i2cRead(MPU6050_ADDRESS, DMP_MEM_R_W, 2, buf);
+            dmp_firstPacket = false;
+            mpu6050DmpFifoReady();
+        }
+
+        if (dmp_fifoCountL == 42) {
+            mpu6050DmpProcessQuat();
+        }
+    }
+}
+
+double dmpdata[3];
+
+static void mpu6050DmpProcessQuat(void)
+{
+    int32_t quatl0, quatl1, quatl2, quatl3;
+    double quat0, quat1, quat2, quat3;
+    double rot6, rot7, rot8;
+
+#define dmp_quatTake32(a, b) (((a)[4*(b)+3]<<24) | ((a)[4*(b)+2]<<16) | ((a)[4*(b)+1]<<8) | ((a)[4*(b)+0]))
+    quatl0 = dmp_quatTake32(dmp_received_packet, 0);
+    quatl1 = dmp_quatTake32(dmp_received_packet, 1);
+    quatl2 = dmp_quatTake32(dmp_received_packet, 2);
+    quatl3 = dmp_quatTake32(dmp_received_packet, 3);
+    quat0 = (double) quatl0 / 32768.0;
+    quat1 = (double) quatl1 / 32768.0;
+    quat2 = (double) quatl2 / 32768.0;
+    quat3 = (double) quatl3 / 32768.0;
+
+    rot6 = (quat1 * quat3) - (quat2 * quat0);
+    rot7 = (quat2 * quat3) + (quat1 * quat0);
+    rot8 = (quat3 * quat3) + (quat0 * quat0) - 1.0;
+
+    dmpdata[0] = atan2(rot7, rot8);
+    dmpdata[1] = atan2(rot8, rot6);
+    dmpdata[2] = ((dmp_received_packet[4 * 6 + 0] << 8) | (dmp_received_packet[4 * 6 + 1] << 0));
+}
+
+static void mpu6050DmpResetFifo(void)
+{
+    uint8_t ctrl;
+    
+    i2cRead(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 1, &ctrl);
+    ctrl |= 0x04;
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, ctrl);
+}
+
+
+static void mpu6050DmpGetPacket(void)
+{
+    if (dmp_fifoCountL > 32) {
+        dmp_fifoCountL2 = dmp_fifoCountL - 32;
+        dmp_longPacket = true;
+    }
+    
+    if (dmp_longPacket) {
+        i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, 32, dmp_received_packet);
+        i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, dmp_fifoCountL, dmp_received_packet + 32);
+        dmp_longPacket = false;
+    } else {
+        i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_R_W, dmp_fifoCountL, dmp_received_packet);
+    }
+}
+
+static bool mpu6050DmpFifoReady(void)
+{
+    uint8_t buf[2];
+
+    i2cRead(MPU6050_ADDRESS, MPU_RA_FIFO_COUNTH, 2, buf);
+    
+    dmp_fifoCountL = buf[1];
+    
+    if (dmp_fifoCountL == 42 || dmp_fifoCountL == 44)
+        return true;
+    else
+        return false;
+}
+
+static void mpu6050DmpBankSelect(uint8_t bank)
+{
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_BANK_SEL, bank);
+}
+
+static void mpu6050DmpBankInit(void)
+{
+    uint8_t i, j;
+    uint8_t incoming[9];
+
+    for (i = 0; i < 7; i++) {
+        mpu6050DmpBankSelect(i);
+        for (j = 0; j < 16; j++) {
+            uint8_t start_addy = j * 0x10;
+
+            i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, start_addy);
+            i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, 16, (uint8_t *) & dmpMem[i][j][0]);
+        }
+    }
+
+    mpu6050DmpBankSelect(7);
+
+    for (j = 0; j < 8; j++) {
+
+        uint8_t start_addy = j * 0x10;
+
+        i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, start_addy);
+        i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, 16, (uint8_t *) & dmpMem[7][j][0]);
+    }
+
+    i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, 0x80);
+    i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, 9, (uint8_t *) & dmpMem[7][8][0]);
+
+    i2cRead(MPU6050_ADDRESS, DMP_MEM_R_W, 8, incoming);
+}
+
+
+static void mpu6050DmpMemInit(void)
+{
+    uint8_t i;
+    uint8_t temp;
+
+    mpu6050DmpBankInit();
+
+    // Bank, Start Address, Update Length, Update Data...
+    for (i = 0; i < 22; i++) {
+        mpu6050DmpBankSelect(dmp_updates[i][0]); // bank
+        i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, dmp_updates[i][1]); // address
+        i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, dmp_updates[i][2], (uint8_t *)&dmp_updates[i][3]); // data
+    }
+
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_ENABLE, 0x32);
+
+    for (i = 22; i < 29; i++) {
+        mpu6050DmpBankSelect(dmp_updates[i][0]); // bank
+        i2cWrite(MPU6050_ADDRESS, DMP_MEM_START_ADDR, dmp_updates[i][1]); // address
+        i2cWriteBuffer(MPU6050_ADDRESS, DMP_MEM_R_W, dmp_updates[i][2], (uint8_t *)&dmp_updates[i][3]); // data
+    }
+
+    /*
+       dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_PWR_MGMT_1);
+       dmp_temp = i2c_readReg(MPU60X0_I2CADDR, MPU_RA_PWR_MGMT_2);
+     */
+
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_ENABLE, 0x02);     // ??
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03);     // CLKSEL =  PLL w Z ref
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x04);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, 0x18);    // full scale 2000 deg/s
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, 0x0B); // ext_sync_set=temp_out_L, accel DLPF 44Hz, gyro DLPF 42Hz
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_DMP_CFG_1, 0x03);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_DMP_CFG_2, 0x00);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_XG_OFFS_TC, 0x00);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_YG_OFFS_TC, 0x00);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_ZG_OFFS_TC, 0x00);
+
+    // clear offsets
+    i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_XG_OFFS_USRH, 6, "\x00\x00\x00\x00\x00\x00"); // data
+
+    mpu6050DmpBankSelect(0x01); // bank
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0xB2);
+    i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 2, "\xFF\xFF"); // data
+
+    mpu6050DmpBankSelect(0x01); // bank
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x90);
+    i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 4, "\x09\x23\xA1\x35"); // data
+
+    i2cRead(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 1, &temp);
+
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x04);      // fifo reset
+
+    // Insert FIFO count read?
+    mpu6050DmpFifoReady();
+
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x00); // ?? I think this enables a lot of stuff but disables fifo
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); // CLKSEL =  PLL w Z ref
+    delay(2);
+
+    i2cRead(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 1, &temp);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_2, 0x00); 
+    i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 1, &temp);
+
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 0x00); // full scale range +/- 2g
+    delay(2);
+    i2cRead(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 1, &temp);
+
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_MOT_THR, 0x02);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_ZRMOT_THR, 0x9C);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_MOT_DUR, 0x50);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_ZRMOT_DUR, 0x00);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x04);      // fifo reset
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0x00);
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_USER_CTRL, 0xC8);      // fifo enable
+
+    mpu6050DmpBankSelect(0x01); // bank
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x6A);
+    i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 2, "\x06\x00"); // data
+
+    mpu6050DmpBankSelect(0x01); // bank
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x60);
+    i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 8, "\x00\x00\x00\x00\x00\x00\x00\x00"); // data
+
+    mpu6050DmpBankSelect(0x00); // bank
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_MEM_START_ADDR, 0x60);
+    i2cWriteBuffer(MPU6050_ADDRESS, MPU_RA_MEM_R_W, 4, "\x40\x00\x00\x00"); // data
+}
+
+#else                          /* MPU6050_DMP */
+void mpu6050DmpLoop(void)
+{
+
+}
+#endif                          /* MPU6050_DMP */
diff --git a/src/drv_mpu6050.h b/src/drv_mpu6050.h
index ea3b1899d..f88e26d87 100644
--- a/src/drv_mpu6050.h
+++ b/src/drv_mpu6050.h
@@ -1,3 +1,4 @@
 #pragma once
 
 bool mpu6050Detect(sensor_t *acc, sensor_t *gyro);
+void mpu6050DmpLoop(void);
diff --git a/src/mw.c b/src/mw.c
index 49f08de1f..9bab82005 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -583,6 +583,8 @@ void loop(void)
     currentTime = micros();
     cycleTime = currentTime - previousTime;
     previousTime = currentTime;
+    
+    mpu6050DmpLoop();
 
     if (sensors(SENSOR_MAG)) {
         if (abs(rcCommand[YAW]) < 70 && magMode) {
diff --git a/src/mw.h b/src/mw.h
index baac8a55b..6d0cffa21 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -271,6 +271,7 @@ void checkFirstTime(bool reset);
 bool sensors(uint32_t mask);
 void sensorsSet(uint32_t mask);
 void sensorsClear(uint32_t mask);
+uint32_t sensorsMask(void);
 bool feature(uint32_t mask);
 void featureSet(uint32_t mask);
 void featureClear(uint32_t mask);
diff --git a/src/serial.c b/src/serial.c
index b814b76fa..8e7febc56 100755
--- a/src/serial.c
+++ b/src/serial.c
@@ -224,21 +224,6 @@ void serialCom(void)
         case 'R':               // reboot to bootloader (oops, apparently this w as used for other trash, fix later)
             systemReset(true);
             break;
-
-        case 'X':               // dynamic mixer
-            i = uartReadPoll();
-            if (i > 64 && i < 64 + MULTITYPE_LAST) {
-                serialize8('O');
-                serialize8('K');
-                cfg.mixerConfiguration = i - '@'; // A..B..C.. index
-                writeParams();
-                systemReset(false);
-                break;
-            }
-            serialize8('N');
-            serialize8('G');
-            break;
-
         case 'W':              //GUI write params to eeprom @ arduino
             // while (uartAvailable() < (7 + 3 * PIDITEMS + 2 * CHECKBOXITEMS)) { }
             for (i = 0; i < PIDITEMS; i++) {