diff --git a/src/MPU6050_6Axis_MotionApps20.cpp b/src/MPU6050_6Axis_MotionApps20.cpp
index 3a89674..2b01b28 100644
--- a/src/MPU6050_6Axis_MotionApps20.cpp
+++ b/src/MPU6050_6Axis_MotionApps20.cpp
@@ -269,7 +269,7 @@ static const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
 #endif
 
 // I Simplified this:
-uint8_t MPU6050_6Axis_MotionApps20::dmpInitialize() {
+uint8_t dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68){
 	// reset device
 	DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
 	reset();
diff --git a/src/MPU6050_6Axis_MotionApps20.h b/src/MPU6050_6Axis_MotionApps20.h
index 0dc9379..8995ad4 100644
--- a/src/MPU6050_6Axis_MotionApps20.h
+++ b/src/MPU6050_6Axis_MotionApps20.h
@@ -47,7 +47,7 @@ class MPU6050_6Axis_MotionApps20 : public MPU6050_Base {
     public:
         MPU6050_6Axis_MotionApps20(uint8_t address=MPU6050_DEFAULT_ADDRESS, void *wireObj=0) : MPU6050_Base(address, wireObj) { }
 
-        uint8_t dmpInitialize();
+        uint8_t dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68);
         bool dmpPacketAvailable();
 
         uint8_t dmpSetFIFORate(uint8_t fifoRate);
diff --git a/src/MPU6050_9Axis_MotionApps41.cpp b/src/MPU6050_9Axis_MotionApps41.cpp
index d85d74a..2c99495 100644
--- a/src/MPU6050_9Axis_MotionApps41.cpp
+++ b/src/MPU6050_9Axis_MotionApps41.cpp
@@ -334,7 +334,7 @@ const unsigned char dmpUpdates[MPU6050_DMP_UPDATES_SIZE] PROGMEM = {
     0x00,   0x60,   0x04,   0x00, 0x40, 0x00, 0x00
 };
 
-uint8_t MPU6050_9Axis_MotionApps41::dmpInitialize() {
+uint8_t dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68){
     // reset device
     DEBUG_PRINTLN(F("\n\nResetting MPU6050..."));
     reset();
diff --git a/src/MPU6050_9Axis_MotionApps41.h b/src/MPU6050_9Axis_MotionApps41.h
index 6d3576e..24ce1e9 100644
--- a/src/MPU6050_9Axis_MotionApps41.h
+++ b/src/MPU6050_9Axis_MotionApps41.h
@@ -47,7 +47,7 @@ class MPU6050_9Axis_MotionApps41 : public MPU6050_Base {
     public:
         MPU6050_9Axis_MotionApps41(uint8_t address=MPU6050_DEFAULT_ADDRESS, void *wireObj=0) : MPU6050_Base(address, wireObj) { }
 
-        uint8_t dmpInitialize();
+        uint8_t dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68);
         bool dmpPacketAvailable();
 
         uint8_t dmpSetFIFORate(uint8_t fifoRate);