MPU6050 yaw inconsistent,drifting while pitch & roll consistent for power reset

Other Hardware Sensors
1

I am using MPU6050 to get the yaw, pitch, roll angles. I am using jrowbergs code. The calibration for the of the MPU6050 has been done following MPU6050-calibration-luisrodenas. Calibration values are entered in repsective variables in jrowbergs code

When I run the code I see that the yaw value changes across power resets to the board. Also it keeps drifting. The pitch and roll values are however very consistent even after power reset.

Yaw pitch roll readings samples after each power reset are shown below. The board was run for minimum ten minutes each time before taking the readings.

Yaw pich roll readings:

84.91 2.25 3.01

70.0 2.24 3.01

105.1 2.28 3.01

40.28 2.28 3.01

2

You need a magnetometer to measure yaw. Gyros drift.