MPU6050 class using DMP (MotionApps v2.0)

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on homemade segway, first used analog 5dof board, i've switched mpu6050 class using dmp (motionapps v2.0). 
with analog one, had "calibrate" accel offset, , gyro offset.  one, using jeff r.'s libraries, seems computing, , 1 output give ypr[] in degrees.  had lot of computing, along offset number analog 5dof, lot easier. 
my question:  appears don't have recalibrate kind of offset did analog one, correct?  put out correct ypr each time turn on?
thanks.



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