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How to modified gyroscope raw value (velocity angular) become angular rate


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HI Jeff...

I'm Mochammad Habib Bachtiar as student of trunojoyo university in Indonesia. 
In this semester I have project about motion capture use a MPU6050 & Arduino Uno. but my focus is gyroscope with horizontal motion at upper arm, lower arm, and hand. so each segmen one sensor. 

I want ask you about that. how to modified some source code at arduino until this raw value become to angular rate.
Please explain source code base from x, y & z axis.... 

Thank's Jeff ....

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