Adjusting variables when building custom firmware

No problem. Can you try moving back to the website modules now?

I2C1.setup({scl:A5, sda:A4});
const MPU = require("MPU6050").connect(I2C1);
// 2nd parameter is the fifoRate. The DMP output frequency = 200Hz / (1 + fifoRate)
const DMP = require("MPU6050_DMP").create(MPU, 3);
function pidLoop(args) {
  var data = DMP.getData();
  if(data !== undefined) console.log(DMP.getYawPitchRoll(data));
}
setWatch(pidLoop, D13, { repeat:true, edge:'rising' });

I also found out that the MPU6050 module wasn't minifying quite right, so now it should be a bit faster and use a bit less space too!