A far more authoritative source of information is invensense' ducumentation / code on dmp.
True, but this board has a little bit more on it - it processes the raw Gyro / Accelerometer data to give roll/pitch/yaw, and then reports over RS232, so you can avoid all that yeachy math stuff, making it simple to use with a small controller.
So you don't actually need to talk I2C to the sensor itself, or port the Invensense driver to your controller.