MPU-6050 start drift

Hi there!

I am making a Hexacopter and I have a problem with the gyro (MPU-6050). After the callibration of the gyro is completed (in setup - the average of 2000 readings) the angle is decreasing for a few seconds...

The gyro is still on the flor and level while the readings were took.
Here is the graph:

You can see that after 30-40 seconds the angle settles stable.

Is this some kind of a problem with the internal buffer of the gyro? Do I need to set some specific registers to get rid of this problem?

Gyros drift, especially if the temperature changes. They have to be recalibrated quite frequently.

An orientation angle derived by integrating the rate of rotation will be stable for a few seconds at best.