Ciao,
puoi anche provare la libreria FreeIMU che ha scritto Fabio Varesano:
http://www.varesano.net/projects/hardware/FreeIMU#library
The FreeIMU library also supports the following 3rd parties boards:
Sparkfun IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345 SEN-10121
Sparkfun 9 Degrees of Freedom - Razor IMU SEN-10736
Sparkfun 9 Degrees of Freedom - Sensor Stick SEN-10724
Sparkfun 9 Degrees of Freedom - Sensor Stick SEN-10183
DIYDrones ArduIMU+ V3
Generic MPU6050 Breakout boards (eg: GY-521, SEN-11028 and other MPU6050 wich have the MPU6050 AD0 pin connected to GND.)