The BNO080 all-in-one 9 DoF IMU board is pretty nice - it can output accel/mag/gyro data as well as fuse sensor data together to give you Euler or quaternion orientation vectors. This sensor also has I2C, SPI and UART interfacing. UART means you can plug it into an FTDI cable directly and then run our BNO08x library to read the sensor data directly from a computer running Python!
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