MPU-6050 Sensor Yaw Axis

I would like to know how to wire the MPU-6050 Sensor using this tutorial -

I want to know only the Yaw axis. I might use an interrupt too. I don't want to use a library for the code.


That tutorial is for sensors with an analog output. The MPU-6050 has a digital I2C bus. Start here : To get the yaw, you better use a magnetomer. Do you need an accelerometer and gyro or only a compass ? A common magnetometer/compass is the HMC5883L.