   if (mpuIntStatus & 0x02) {
     checkFifo();
 
-    // Read all packets from FIFO and kepp last
+    // Read all packets from FIFO and keep last
     do {
       mpu.getFIFOBytes(fifoBuffer, packetSize);
       fifoCount -= packetSize;
     } while (fifoCount > packetSize);
 
-    // Get Euler angles in degrees and Acceleration in world-frame
+    // Get Euler angles in radiants and Acceleration in world-frame
     mpu.dmpGetQuaternion(&q, fifoBuffer);
     mpu.dmpGetAccel(&aa, fifoBuffer);
     mpu.dmpGetGravity(&gravity, &q);

// 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
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 JETPACK_PIN 3
bool blinkState = false;



  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;
