I just bought a low-cost 9 degrees of freedom module at [AliExpress][1].
| Mnemonic | Description | Datasheet | Arduino library |
|---|---|---|---|
| ADXL345 | accelerometer | [Datasheet][2] | [Adafruit_ADXL345 library][7] |
| HMC5883L | digital compass | [Datasheet][3] | [Arduino-HMC5883L library][8] |
| ITG3205 | MEMS gyroscope | [Datasheet][4] | [ITG3205 library][9] |