Amazon.com: 【WT61P Accelerometer+Tilt Sensor】High-Stability Acceleration(+-16g)+Gyro+Angle(XY Dual-axis)+Quaternion with Kalman Filter, Mpu6050 AHRS IMU (Unaffected by Magnetic Field), for PC/Arduino/Raspberry Pi : Industrial & Scientific
Guide to gyro and accelerometer with Arduino including Kalman filtering - #560 by fjarias - Sensors - Arduino Forum