MPU6050 sensor : gyroscope's Z axis keeps drifting

[helio_phoebus]

I am working on a project which needs to read the direction constantly,
I am using MPU6050 sensor's yaw value for it,
I tried using a magnetometer but it was not working as expected, I am also limited by time.

Here's the code:

/* Get tilt angles on X and Y, and rotation angle on Z
 * Angles are given in degrees
 * 
 * License: MIT
 */

#include "Wire.h"
#include <MPU6050_light.h>

MPU6050 mpu(Wire);
unsigned long timer = 0;

void setup() {
  Serial.begin(9600);
  Wire.begin();
  
  byte status = mpu.begin();
  Serial.print(F("MPU6050 status: "));
  Serial.println(status);
  while(status!=0){ } // stop everything if could not connect to MPU6050
  
  Serial.println(F("Calculating offsets, do not move MPU6050"));
  delay(1000);
  // mpu.upsideDownMounting = true; // uncomment this line if the MPU6050 is mounted upside-down
  mpu.calcOffsets(); // gyro and accelero
  Serial.println("Done!\n");
}

void loop() {
  mpu.update();
  
  if((millis()-timer)>10){ // print data every 10ms
	Serial.print("\tZ : ");
	Serial.println(mpu.getAngleZ());
	timer = millis();  
  }
}

It is an example from the library:
MPU6050_light-master.zip (194.1 KB)

And here's an example of the drift:
GyroDrift.txt (450 Bytes)
I have pasted the data into a text file as it is too large

I know it doesn't look like much but it happened in less than a minute
Please help me fix this drift, I am very close to completing this project.

Thank you,
Helio phoebus

[jremington]

Rate gyros always drift. Do the best you can to estimate the offset and subtract it, but keep in mind that the offset is temperature dependent. The accelerometer can be used to correct drift on two axes, but there is no yaw reference for Z in the standard configuration.

The MPU-6050 was discontinued long ago, so anything you buy today is counterfeit or some sort of clone. All the modern replacements outperform it.