Hi everybody :)  I just want to ask a question... I'm working on a project in which i use the MPU6050 IMU from invensense connected to an arduino leonardo. Thanks to Jeff Rowberg's library, i could use the DMP of this chip to get yaw, pitch and roll angles, but my problem is that when i run the example code, every thing is ok, but when i just add one delay, say delay(100), the FIFO register overflows. Is there any solution for this problem??

Another problem i faced also is that when i added some extra pieces of code (related to my project), where i use the PWM to control the speed of rotation of some motors, the yaw angle readings from the MPU go nuts, is there any relation between using PWM and the FIFO in the MPU??

thank you in advance for your help.