Sensor fusion MPU6050

 https://github.com/kriswiner/MPU6050/wiki/Affordable-9-DoF-Sensor-Fusion

Attitude Heading Reference System (AHRS)

https://github.com/kriswiner/MPU6050


most of the lib on 6050 are based on I2Cdev: for arduino you need this one:

https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050

also you need this in your folder

https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/I2Cdev

For the IIC connection, directly read out sensor data seems to be fine.

But when I use interrupt of esp8266on DMP, from time to time, it fails on IIC.

lower the speed does not help...

I switch back to pro mini, it works fine....even with a IIC OLED




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