MPU-60X0 DMP

Hello,

If I understand correctly, the DMP merges the output of the accelerometer and gyroscope in hardware to allow for fast update rates. This is a really great feature... but how can I access the DMP's data? The register map description document only explains how to access accelerometer and gyroscope output but not the DMP's, right?

I know that your MotionApps platform is capable of accessing data from the DMP, but I would really like to access this data with my own software.

I appreciate any help, thanks