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It's solved. There was a accuracy problem because my algorithm was skipping some lines from DMP code while it was writting it (specifically the two last lines from "dmpUpdates[MPU6050_DMP_UPDATES_SIZE]" in "MPU6050_6Axis_MotionApps20.h"). Anyway, after I get the code that working fine, I found another accuracy problem but this time in Arduino library. This problem happends because the hexadecimal code from Invensense isn't updated. In a few days, I will try to update the code because the last version is very quickly and very accurate if we compare it with the other version.