I am using the MPU 6050 and I found that when I ask for a current measurement from the accelerometers or Gyro's the axes are not as they are labeled on the data sheet and the Z axis always bounces around zero. On my chip I get these results:
X acceleration (registers 0x3B and 0x3C) shows a response that is labeled as Y acceleration in the datasheet
Y acceleration (registers 0x3D and 0x 3E) shows a response that is labeled as Z in the data sheet
Z acceleration (registers 0x3F and 0x40) shows no response, just bounces around 0 with upper and lower bounds of 0.02g
I get the same results from the gyroscopes...
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