Hola,guys 
I'm doing a project about calculating position for about three hours.
The object will keep moving till end.
I already have accelerometer,magnetometer,encoder,gyroscope.
Everything is going great,but gyroscope's drift is a big problem.
I already use some calibration at matlab after reading,but still to big for us.
I'm using mpu6050's gyroscope.
i put all sensors on desk for two hours.Other sensor's value is acceptable except gyro.
I read gyro's register directly.Not Dmp's register .
Wondering will read dmp have better result? or should i just find better gyroscope?
code:
void imu6050_data() {
 ID = MPU_addr;
 readmultiRegister(0x43, 6);
 gx1 = values[0] << 8 | values[1];
 gy1 = values[2] << 8 | values[3];
 gz1 = values[4] << 8 | values[5];
 if (gx1 >= 0x8000)
  gx1 = gx1 - 0x10000;
 if (gy1 >= 0x8000)
  gy1 = gy1 - 0x10000;
 if (gz1 >= 0x8000)
  gz1 = gz1 - 0x10000;
 gx1 = gx1 / 131;
 gy1 = gy1 / 131;
 gz1 = gz1 / 131;
}
void readmultiRegister(int fst, int num) {
 int k = 0;
 Wire.beginTransmission(ID);
 Wire.write(fst);
 Wire.endTransmission();
 Wire.requestFrom(ID, num);
 while (Wire.available() && k < num)
 {
  values[k++] = Wire.read();
 }
}