DMP or MPL library? Where is the Fusion algoritimplemented?

Hello
We consider to embed the MPU 9150 in our robots. ("FriendlyRobotics". http://www.robomow.com/)
1. Following the review of the documentation and the source code of "motion_driver_6.1" it is not so clear whether the fusion algorithms are implemented in the MPL library or by the DMP.
2. On one hand in the 9150 data sheet you claim that the DMP is "capable of processing complex MotionFusion algorithms; and the AK8975, a 3-axis digital compass..."
3. On the other hand following the source code and your other documentation it seems that the Fusion algorithms are implemented by the MPL library.
4. Please clarify the above contradiction. Where are the Fusion algorithms done ?
5. Moreover from the review of the motion_driver_6.1 code and the documentation it seems that it is possible to work with the DMP without using the MPL Library. We consider to do so to reduce the overhead of the MPL library. Is it possible to work this way? What would be the impact on the sensor results ?

Best Regards
Eli Lurie
lurie.eli@gmail.com