The MPU6050 will give you only roll and pitch angles using AX, AY, and AZ. You can do a double numerical integration of GZ to get the yaw angle from an initial starting position but the accuracy will quickly degrade and become useless. You will need to find a 9DOF sensor which includes a three axis magnetometer. The accelerometer will give you roll and pitch and the magnetometer will yield yaw relative to the magnetic north pole.
For an initial Arduino project, you have selected something rather complex. You might want to try some of the examples in the IDE and experiment with them first. Look at the Sensors and Servos after a few Basics.