This video is from 2.12 (Intro to Robotics), a class I'm taking this semester. I got a Sparkfun MPU6050 Breakout Board to talk to an Arduino Nano via i2c, which then communicates with my Ubuntu laptop via Serial. A Python program interprets the Arduino serial signal as outputs of the sensor's Accelerometer[meters/(second^2)] and Gyroscope[degrees/second]. A second order complementary filter (More info on these style filters in Shane Colton's Blog) then interprets these signals as pitch, roll, and yaw angles. Which you can see on my computer screen represented as a line.
Updates on Melonchopper's build and more details on 2.12 coming soon!