Gyro data filtering HELP

i try to make a selfe balancing robot…
First i need to read gyro sensor data and filter it properly…
Reading data OK but have some issues how to filter it

Now i get the data like this

accel x,y,z: -496, -116, 15692,
angle gyro: , 91
G force: 0.00

accel x,y,z: -476, -92, 15700,
angle gyro: , 90
G force: 0.00

The problem i have is that the gyro angle is changing up/down for 1 degreee
even when the sensor is laying on the table.

I have attached my arduino file

giro_test_2.ino (3.11 KB)

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