I've been reading through and using you're code for the MPU9150 (with a focus on MPU6050_9Axis_MotionApps41.h). First of all THANK YOU! Accessing the DMP is fantastic and makes the calculations on the microprocessor itself so much simpler. I'm trying to build upon it a little, and was trying to get my head around what the code is doing, but I'm a little lost with the memory dumps in the code. I really want to clean a few things up to make the API a bit more accessible but I never change things without understanding them first. If you wouldn't mind I'd love to pick your brain. Thanks again.