http://www.sparkfun.com/tutorials/167
http://www.i2cdevlib.com/devices/mpu6050
http://www.rcgroups.com/forums/showthread.php?t=1358869&page=154
http://www.varesano.net/projects/hardware/FreeIMU
http://www.viacopter.eu/index.php?option=com_virtuemart&page=shop.browse&category_id=11&Itemid=53
http://www.viacopter.eu/