I get the error: 'MPU6050 {aka class MPU6050_Base}' has no member named 'dmpGetQuaternion' when I build OpenCat.ino. In the build log, there are a number of errors that seem to stem from a typedef conflict (class inheritance?) In file included from /home/jabberwocky/Documents/LocusSolus/petoi/bittle/OpenCat/OpenCat.ino:37:0: /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050_6Axis_MotionApps20.h: At global scope: /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050_6Axis_MotionApps20.h:151:36: error: conflicting declaration 'typedef class MPU6050_6Axis_MotionApps20 MPU6050' typedef MPU6050_6Axis_MotionApps20 MPU6050; ^~~~~~~ In file included from /home/jabberwocky/Documents/LocusSolus/petoi/bittle/OpenCat/OpenCat.ino:2:0: /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050.h:845:22: note: previous declaration as 'typedef class MPU6050_Base MPU6050' typedef MPU6050_Base MPU6050; Board and Libraries seem to be OK. I followed all the instructions in the documentation and also checked through the forums. Detecting libraries used... /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null Alternatives for MPU6050.h: [MPU6050] ResolveLibrary(MPU6050.h) -> candidates: [MPU6050] /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null Alternatives for I2Cdev.h: [I2Cdev] ResolveLibrary(I2Cdev.h) -> candidates: [I2Cdev] /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null Alternatives for Wire.h: [Wire@1.0] ResolveLibrary(Wire.h) -> candidates: [Wire@1.0] /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null Alternatives for Adafruit_PWMServoDriver.h: [Adafruit_PWM_Servo_Driver_Library@2.4.0] ResolveLibrary(Adafruit_PWMServoDriver.h) -> candidates: [Adafruit_PWM_Servo_Driver_Library@2.4.0] /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null Alternatives for EEPROM.h: [EEPROM@2.0] ResolveLibrary(EEPROM.h) -> candidates: [EEPROM@2.0] /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null Alternatives for IRremote.h: [IRremote@2.6.1] ResolveLibrary(IRremote.h) -> candidates: [IRremote@2.6.1] Summary at the end of the log: Using library MPU6050 in folder: /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 (legacy) Using library I2Cdev in folder: /home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev (legacy) Using library Wire at version 1.0 in folder: /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire Using library Adafruit_PWM_Servo_Driver_Library at version 2.4.0 in folder: /home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library Using library EEPROM at version 2.0 in folder: /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM Using library IRremote at version 2.6.1 in folder: /home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote exit status 1 'MPU6050 {aka class MPU6050_Base}' has no member named 'dmpGetQuaternion' I'm running the Arduino IDE 1.8.15 under ubuntu 20.04. Here's the section in the log that shows which of the pertinent files are being compiled (in bold): /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote/src /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote/src /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050.cpp -o /dev/null /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote/src /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050_6Axis_MotionApps20.cpp -o /dev/null /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote/src /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050_6Axis_MotionApps612.cpp -o /dev/null /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote/src /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050_9Axis_MotionApps41.cpp -o /dev/null ...etc... I have successfully run ModuleTests, testI2cDevice and testMPU. Can someone explain what is going on here and how I can fix it? Thanks!