Invensense UMPL for 6 DOF on other platforms

Hello Invensense,

I'm trying to compile your UMPL for PIC32 using MPLAB X. I'm only interested in getting it to work with 6 DOF. There are just so many files with so many #defines and so many things that can (and do) go wrong with your code. I can't get it to compile. Obviously, I changed the platform specific files, but the rest of the files is where I'm having issues.

I'm getting a bunch of "multiple definition" errors. For instance, there's a multiple definition of 'inv_setup_dmp' and 'inv_mldl_cfg_init'. Any idea what could cause this? Could my #defines just be wrong? if so, where can i find the ones I need to use?

Also, if I want to compile a minimal working project with the least number of files necessary, what files would I need?

thanks!