[Gdeaver]

For a gyro-IMU-AHRS solution we used the NavX MXP in 2015. It has worked for us, but we have had problems. We bought 2 boards. One has failed, will not initialize. We have had problems with the IO ports. Some are unusable and others are not reliable. We mounted our Roborio vertical. This forced us to use a cable between the Rio and the Navx. We use the NavX for 2 tasks. The NavX tells us which way our robot is pointing. (not which way our robot is moving). Second, it tells us if the robot is tilting. We fell over 3 times in competitions this year. We use the navx to stop us from tipping. If the the angle of tilt goes beyond x degrees, reverse the drive motors. It works.
For 2016 we are looking for a better IMU. We recently purchased a Arduino Shield with a Bosch BMO055 orientation sensor. It has a 3 axis accelerometer, gyro and magnetometer. Plus a Arm cortex M0 core running fusion code. Easy set up. Initialize the I2C port, write to a few registers and its running. We bought the Arduino shield for testing. Will use the Adafruit board on the robot if we go with it. Only have 1 hour of testing. Gyro, accelerometer fusion looks rock solid. Add in the mag and it is not good. Interesting is the linear acceleration output. It's a little noisy but with a little clean up could give direction of motion. Not suitable for distance. Better than the Invensense outputs. Looks good but you never know until it's on the robot.