[baumgartensam]

Also look at IMUs such as the nav6 and navX. They handle all the filtering for you which may be better if you don't have much experience with filtering. There's also lots of sample code for the RoboRIO.

Nav6: http://www.kauailabs.com/store/index...&product_id=50
NavX: http://www.kauailabs.com/store/index...&product_id=56