Upgrading DIY UAV from mega2560 to esp32 : unsuccessful after weeks of attempts

[Aarpp]

I want to start with a giant thank you, to all the contributors and of course to Jeff. You have made it possible for me to accomplish a dream of mine.

Ever since Iraq when my life was spared due to technological advancements I have been motivated to learn about and build my own UAV's. And I am very excited to share with the community what I have made, I don't know if it's permitted to link a video of the UAV in flight. Once completed I would like to provide them for the community.

I planned on moving to the ESP32 since I'm getting to the point where speed is critical since I am adding more components to the project, but I have failed to do so.

I have spent several weeks researching I have clicked on every link available about the ESP32 not working with Jeff's library, I have tried everything that's suggested here on GITHUB and all other sites with no success.

I can use any other mpu6050 lib without any issues and of course if I use the mega I can use Jeff's library with no trouble.

**What have I tried to do? **
I deleted all I2CDev libs from my PC and downloaded the latest version, no change.
I attempted to make edits to all the recommended files as suggested in several post with no success.

The only thing I have not tried is using an older esp32 version, which I cannot find.

IF you have been successful, which sketch did you use, and how did you connect the esp32 to mpu6050 ?
the .ino files in the arduino file
or the .cpp file in the esp32 file

the .cpp file gives me compiler errors.
the .ino compiles fine, but it states it can't connect with mpu6050 (code1)

Thank you all for taking the time.
And I apologize for not better communicating the issue, I am not a developer or computer scientist.

[Aarpp]

!!!!!!!!!! SOLUTION !!!!!!!!!!
Since Arduino/I2cDev/Stack overflow/Github Forums are all crickets!
And documentation is lacking!
I wanted to help some poor soul struggling, I hope this solution helps you.
As a great mentor once told me: "Pass it forward, find a way to help someone else "-Jay

The following was done with the latest most recent available files here from the repo and the latest esp32 and Arduino ide versions.

Both worked on the dmp6.ino and dmp_v6.12.ino found in the Arduino folder.
NOTICE the pins in Wire.begin()

As many mentioned once it compiles nothing is output to the serial monitor

You must toggle the EN button on your esp32

Now you get a successful connection message
and can now return to your project

perhaps the solution was to simple to warrant a response, perhaps I'm to ignorant to know better.

No matter ! Jeff and all his contributors (some I've communicated before with in Arduino forums) have created a wonderful thing I'm great full non the less.