BNO055 I2C 9DOF Nine-axis AHRS directional sensor Acceleration Gyroscope Magnetic Field module Small volume DC3-5V

The BNO055 can output the following sensor data:
Absolute Orientation (Euler Vector, 100Hz) Three axis orientation data based on a 360 sphere
Absolute Orientation (Quatenrion, 100Hz) Four point quaternion output for more accurate data manipulation
Angular Velocity Vector (100Hz) Three axis of 'rotation speed' in rad/s
Acceleration Vector (100Hz) Three axis of acceleration (gravity + linear motion) in m/s^2
Magnetic Field Strength Vector (20Hz) Three axis of magnetic field sensing in micro Tesla (uT)
Linear Acceleration Vector (100Hz) Three axis of linear acceleration data (acceleration minus gravity) in m/s^2
Gravity Vector (100Hz) Three axis of gravitational acceleration (minus any movement) in m/s^2
Temperature (1Hz) Ambient temperature in degrees celsius

The BN0055 is a smart 9-degree of freedom sensor that does sensor fusion on its own, instead of spending weeks or months fiddling with algorithms of varying precision and complexity, you can get meaningful sensor data in minutes! You can read the data directly from I2C and Bob's uncle.
BN0055 can output the following sensor data: Absolute direction (Euler vector, 100Hz) Based on 360 sphere three-axis direction data Absolute direction (quaternion, 100Hz) four-point quaternion output, For more accurate data manipulation Angular velocity vector (100Hz) Three-axis "speed" acceleration vector in radians/second (100Hz) Three-axis acceleration (gravity + linear motion), The unit is m/s^2 magnetic field strength vector (20Hz) in the miniature Tesla (uT) three-axis magnetic field induced linear acceleration vector (100Hz) The three axes of the linear acceleration data (acceleration minus gravity) in m/s^2 gravity vector (100Hz) The three axes of the gravitational acceleration (minus any motion), The unit is m/s^2 temperature (1Hz) The ambient temperature (Celsius) is simple to use and supports I2C which is 3 or 5V logically safe. We have also divided the interrupt pins and address selection jumpers in case you want to connect two BNO-2s on a single I055C bus. We provide Arduino (C/C++) and CircuitPython libraries, so you can use them with any microcontroller or computer board and get data readings in 5 minutes. Four mounting holes for secure connection.