Hi,
Did you get this working?
I have exactly the same problem with my mpu6050. I have spent a lot of time investigating it, including one crashed quadcopter!
The MPU is capable of self-calibration if initialized with the correct flags. The gyro outcome is perfect, so is pitch & roll. But yaw jumps all over the place. Before, I had a different mpu6050 that worked perfectly fine but I managed to destroy it. Since, I hardly changed anything in my code and the new MPU behaves as described.
I'm currently waiting for a new module as I think this issue is due to faulty chip.
Where did you get your MPU from?
Thanks,
Gregory
