i use the ixz500 gyro for my project. and i used a simple algorithm for find tilting angle. this algo is in the data sheet. but there are some problems... after getting several gyro output values, even the gyro in reference posision(mid level voltage) it gives small angle. i think this is because of adding small errors in each gyro output and finally there will be an large error.

Plz anyone have better solution. and is this the best gyro to get the inclination angle.

my simple algo:

(Gyro Output Voltage – Gyro Zero-Rate Out) / Sensitivity

use A2D conversion to translate dgital value to voltage level.