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All documentation on how to use the DMP is now freely available from InvenSense here. This means you can either rewrite this library so it works with all aspects of the DMP, or you can use the documentation and sample code written by InvenSense, to make the DMP work without this library. This information has been released for over two years... I hope you finally get to fully appreciate the DMP, instead using this half working library made by hacking an evaluation board. (To the creator: Your work has been to great help for many people, and now finally we get to use the DMP fully. Hadn't this been released, I would have been very grateful for your work.)
I would like to know why InvenSense's MPU6050 documentation, specifically regarding the register map, has absolutely nothing to say about register addresses below address 0x0D? The program, IMU_Zero.ino, makes data entries into addresses below that, e.g., in 0x06 to 0x0B for the accelerometer offsets. I am curious as I am new to reading the documentation for such ICs and am trying to figure out if there is any general philosophy to the documentation structure.