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Uploaded on Oct 2, 2011
Well, I finally ironed out a couple of kinks in my Arduino sketch and it now replicates the behavior of the UC3-A3 firmware perfectly. Better yet, I've finally figured out exactly what the DMP initialization sequence is doing step by step and will be able to make low-level alterations to enable the 9-axis advanced fusion. All without using the Invensense Embedded MotionApps platform.
You can download the code from github.com/bzerk/MPU6050_DMP_6_axis_demo_
Be forewarned, it's a messy proof of concept, and reflects its being a product of experimentation.