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You can find more information on how to calculate yaw in my bachelor's thesis: https://github.com/Lauszus/LaunchPadFlightController/blob/master/docs. The relevant code is located here: https://github.com/Lauszus/LaunchPadFlightController/blob/master/src/IMU.c#L76-L93. Regards Kristian Sloth Lauszus
Please see my blog post: http://blog.tkjelectronics.dk/2012/03/the-balancing-robot.
Make sure that you have connected the sensor correctly. Have you remembered to connect VCC and GND as well?
Just comment out this line: https://github.com/TKJElectronics/Example-Sketch-for-IMU-including-Kalman-filter/blob/master/IMU/MPU6050/MPU6050.ino#L21, please also read: http://www.freescale.com/files/sensors/doc/app_note/AN3461.pdf.RegardsKristian Sloth Lauszus
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