To implement rate mode you'll need the gyroscope X, Y and Z axes, as inputs to your rate roll, pitch and yaw PIDs.
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Should i add this?
Wire.requestFrom(MPU, 6, true);
GyZ = Wire.read() << 8 | Wire.read();
OR this
mpu.getMotion6(& AcX, & AcY, & AcZ, &GyX, &GyY, &GyZ);
Thanks