Parameter Setting dmp

Hello everybody,

I am trying to use the dmp from the MPU6050 for a multirotor solution.

I can fly and control the copter. The dmp is doing the sensor fusion of the gyro and the accel. I guess it is done by a kalman filter. But the values of the accel are combined too fast with the gyrodata. This makes it impossible to fly fast moves as the acceleration of the movement is disturbing the gravitiy.

Is there any way to change the parameters of the kalman algorithm inside the DMP?

I manged to calibrate the gyros, the accel. and so on. But I cannot change the behavier of the sensor fusion.

Please help

regards,
Daniel