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I don't think you are creating instances of these classes correctly. Instead of:

CDSensors*     LSensors      = &CDSensors     (0);
CDSerialPrint* LSerialPrint  = &CDSerialPrint (0);            
MPU9250_DMP   Limu = MPU9250_DMP ();

How about:

CDSensors LSensors (0);
CDSerialPrint LSerialPrint (0);
MPU9250_DMP Limu;

I can't get your code to compile, but what I suggest looks a lot simpler.

Is your intention here:

if (imu.begin() != INV_SUCCESS)
  imu.setSensors(INV_XYZ_ACCEL | INV_XYZ_GYRO | INV_XYZ_COMPASS); 
  imu.setGyroFSR(2000); 
  imu.setAccelFSR(2); 
  imu.setLPF(188); 
  imu.setSampleRate(100); 
  imu.setCompassSampleRate(100); 

.. to really be:

if (imu.begin() != INV_SUCCESS)
  {
  imu.setSensors(INV_XYZ_ACCEL | INV_XYZ_GYRO | INV_XYZ_COMPASS); 
  imu.setGyroFSR(2000); 
  imu.setAccelFSR(2); 
  imu.setLPF(188); 
  imu.setSampleRate(100); 
  imu.setCompassSampleRate(100);
  }

The indentation suggests so.