 // Watchdog timer
 #include <avr/wdt.h>
 
-// class default I2C address is 0x68
-// specific I2C addresses may be passed as a parameter here
-// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)
-// AD0 high = 0x69
+// Instanciate MPU on address 0x68 (ADD low)
 MPU6050 mpu;
-//MPU6050 mpu(0x69); // <-- use for AD0 high
-
-/* =========================================================================
-   NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch
-   depends on the MPU-6050's INT pin being connected to the Arduino's
-   external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is
-   digital I/O pin 2.
- * ========================================================================= */
-
-/* =========================================================================
-   NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
-   when using Serial.write(buf, len). The Teapot output uses this method.
-   The solution requires a modification to the Arduino USBAPI.h file, which
-   is fortunately simple, but annoying. This will be fixed in the next IDE
-   release. For more info, see these links:
-
-   http://arduino.cc/forum/index.php/topic,109987.0.html
-   http://code.google.com/p/arduino/issues/detail?id=958
- * ========================================================================= */
-
-
-#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
+
+
+#define LED_PIN 13
 #define JETPACK_PIN 3
 bool blinkState = false;
 

  if (mpuIntStatus & 0x02) {
    checkFifo();

    // Read all packets from FIFO and kepp last
    do {
      mpu.getFIFOBytes(fifoBuffer, packetSize);
      fifoCount -= packetSize;
    } while (fifoCount > packetSize);

    // Get Euler angles in degrees and Acceleration in world-frame
    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.dmpGetAccel(&aa, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &q);


  while (Serial.available() && Serial.read()); // empty buffer

  // Lower Watchdog to 60msec
  wdt_disable();
  wdt_enable(WDTO_60MS);
}

// ================================================================
// ===                    MAIN PROGRAM LOOP                     ===
// ================================================================
void loop() {
  // if programming failed, don't try to do anything
  if (!dmpReady) return;
