I just received my M5 Fire + m5bala this morning.
The M5 fire device is great. I played with M5 library with success (from Arduino) and managed to get some Hello world and other stuff running.

My problem is when I run the m5bala sample.
I did managed to compile and upload the sample, but the code won't work.

After some debugging, it appears that I can drive the motors correctly by setting manual commands.
However, the MPU6050 seems to be not responding as expected since I always have zero values.

Here is a piece of code I use to test the MPU. I tried different versions of MPU6050 library with no difference.
Any help is welcome, thank you.

Regards

#include <M5Stack.h>
#include <MPU6050_tockn.h>
#include <Wire.h>

MPU6050 mpu6050(Wire);

void setup()
{
// Power ON Stabilizing...
delay(500);
M5.begin();
M5.setPowerBoostKeepOn(false);

Wire.begin();
Wire.setClock(400000UL);  // Set I2C frequency to 400kHz

mpu6050.begin();
mpu6050.calcGyroOffsets(false);
//mpu6050.setGyroOffsets(-2.70, -1.08, 0.87);

M5.Lcd.setTextFont(2);
M5.Lcd.setTextColor(TFT_WHITE, TFT_BLACK);
M5.Lcd.println("M5Stack Balance Mode start");

}

void loop()
{
mpu6050.update();
M5.Lcd.clear();
M5.Lcd.setCursor(0, 0);
M5.Lcd.printf("X: %f", mpu6050.getAngleX());
M5.Lcd.setCursor(0, 20);
M5.Lcd.printf("Y: %f", mpu6050.getAngleY());
M5.Lcd.setCursor(0, 40);
M5.Lcd.printf("Z: %f", mpu6050.getAngleZ());
delay(500);
// M5 Loop
M5.update();
}