Our team took up writing and providing decent drivers for the
MPU6050 as one of our offseason projects last year (2014) and had good results. We have very little drift (ie a couple of degrees every couple of hours, though we have yet to record exact results). We have a nice, cheap, solution that has been tested on a BBB and a raspberry pi, and we have half ported working code for the roboRIO (also working on using the MXP breakout board with it):
Links:
For BBB and Raspberry PI:
https://github.com/thedropbears/DropBoneImu
For roboRIO (WIP, but it works):
https://github.com/thedropbears/lib-4774
Documentation:
http://thedropbears.org.au/wiki/index.php/DropBone_IMU
Edit: Add link to documentation