The code is released under the GNU General Public License.
Developed by Kristian Lauszus.

This is the firmware for the digital IMU MPU-6050 from InvenSense (http://invensense.com/mems/gyro/mpu6050.html)
"Kalman.h" is from the Kalman filter library I wrote: https://github.com/TKJElectronics/KalmanFilter