MPU6050 compilation warning

[dmb0058]

Compiling on Ubuntu 18.04 with arduino-mk I get:

./sketchbook/libraries/MPU6050/MPU6050_6Axis_MotionApps20.h:522:65: warning: integer overflow in expression [-Woverflow] - (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);

[MalcolmBoura]

Looks like that part of the expression is being evaluated in an int16_t context in which case the previous two statements may have the same problem which will result in dramatic loss of precision.

[JM-FRANCE]

C++ evaluate integral constat to int, and an int on a small arduino is indeed a int16_t.

the fix is to change (2 * 16384) into (2 * 16384L), which will force 16384 to be seen as a long, so on 4 bytes (int32_t)