Question about the DMP in MPU-9250

Can I verify that the code found in the Embedded MotionDriver v5.1.2 on the Downloads page will allow me to use the DMP features on the MPU-9250? I am going to be using it with a MSP430F5438A chip via I2C.

I am looking to get quaternion data out for rotational calculations because trying to do it only using the gyro register outputs is going to be hard.

Also, are the quaternions sufficient to give me the roll, pitch, yaw angles if my device is going to be moving in 3 dimensional space in a non-constant speed (ie, cannot tell which way is 'down' purely by gravity in Z axis as movement forward may equal and superceed g (9.81m/s2)

Thanks