Arduino UNO Gyroscope Module (MPU6050)

#include <Wire.h>

const int MPU_ADDR = 0x68;
float pitch = 0, roll = 0;
float gyroBiasX = 0, gyroBiasY = 0;
unsigned long lastUpdate = 0;

void readRaw(int16_t *ax, int16_t *ay, int16_t *az,
             int16_t *gx, int16_t *gy, int16_t *gz) {
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x3B);
  Wire.endTransmission(false);
  Wire.requestFrom(MPU_ADDR, 14, true);

  *ax = Wire.read() << 8 | Wire.read();
  *ay = Wire.read() << 8 | Wire.read();
  *az = Wire.read() << 8 | Wire.read();
  Wire.read(); Wire.read();              // skip temperature
  *gx = Wire.read() << 8 | Wire.read();
  *gy = Wire.read() << 8 | Wire.read();
  *gz = Wire.read() << 8 | Wire.read();
}

void setup() {
  Serial.begin(9600);
  Wire.begin();

  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x6B); Wire.write(0);       // wake from sleep
  Wire.endTransmission(true);
  delay(100);

  // Gyro bias must be measured with the board completely still
  Serial.println("Calibrating — keep the sensor motionless");
  long sx = 0, sy = 0;
  int16_t ax, ay, az, gx, gy, gz;
  for (int i = 0; i < 500; i++) { readRaw(&ax,&ay,&az,&gx,&gy,&gz); sx += gx; sy += gy; delay(3); }
  gyroBiasX = sx / 500.0;
  gyroBiasY = sy / 500.0;
  lastUpdate = millis();
}

void loop() {
  int16_t ax, ay, az, gx, gy, gz;
  readRaw(&ax,&ay,&az,&gx,&gy,&gz);

  float dt = (millis() - lastUpdate) / 1000.0;
  lastUpdate = millis();

  // Accelerometer gives absolute tilt but is noisy
  float accPitch = atan2(ay, sqrt((float)ax*ax + (float)az*az)) * 180.0 / PI;
  float accRoll  = atan2(-ax, az) * 180.0 / PI;

  // Gyro gives smooth rate but drifts; 131 LSB per deg/s at default range
  float ratePitch = (gx - gyroBiasX) / 131.0;
  float rateRoll  = (gy - gyroBiasY) / 131.0;

  pitch = 0.98 * (pitch + ratePitch * dt) + 0.02 * accPitch;
  roll  = 0.98 * (roll  + rateRoll  * dt) + 0.02 * accRoll;

  Serial.print("pitch="); Serial.print(pitch, 1);
  Serial.print("  roll="); Serial.println(roll, 1);
  delay(20);
}