As i said I decided to organize the two exercise "input" and "output" and my project controller together, to make a board I will use in a project.This week I'll try to look on how i can intregrate gyro stablilization for horizontal,using atmega 328p, MPU 6050 (gyroscope and ACCELEROMETER) and the other pin i will let them connected to pin header for preview layout of my flighter controller so that i can ready the value RC receiver

Board Design

Download Boards files

BURNING BOOTLOADER ON THE CHIP

CONNECT YOUR BOARD TO PROGRAMER I used arduino as Isp because my fabIsp was being used by other that why i used arduino as ISP in order to avoid distrubing him in his progression and to save the time for making another ISP

burning arduino uno bootloader on my chip

uploading the firmware to the board

uploading mpu 6050 sensor code to the board

READING VALUES FORM SENSOR

Working with servos

after reading the values of the i have to write the calculated pitch and roll on my two seros attached on A1 and A2 of my flight controller, to do that i used the following code:

#include 
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
//#include "MPU6050.h" // not necessary if using MotionApps include file
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif

#define LED_PIN A0
bool blinkState = true;

Servo Servo1;   // First Servo off the chassis
Servo Servo2;   // Second Servo off the chassis

int Servo1Pos = 0;
int Servo2Pos = 0;

float mpuPitch = 0;
float mpuRoll = 0;
float mpuYaw = 0;


// define MPU instance
MPU6050 mpu;                    // class default I2C address is 0x68; specific I2C addresses may be passed as a parameter here

// MPU control/status vars
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

// relative ypr[x] usage based on sensor orientation when mounted, e.g. ypr[PITCH]
#define PITCH   1     // defines the position within ypr[x] variable for PITCH; may vary due to sensor orientation when mounted
#define ROLL  2     // defines the position within ypr[x] variable for ROLL; may vary due to sensor orientation when mounted
#define YAW   0     // defines the position within ypr[x] variable for YAW; may vary due to sensor orientation when mounted


void setup()
{

  Servo1.attach(A0);  // attaches the servo on A0 to the servo object
  Servo2.attach(A1);  // Second servo on A1
  delay(50);
  Servo1.write(0);	// These are command checks to see if the servos work and
  Servo2.write(60);	// to help w/ the initial installation.
  delay(500);		// Make sure these movements are clear from the rest of the chassis.
  Servo1.write(180);
  Servo2.write(120);
  delay(500);
  Servo1.write(0);
  Servo2.write(90);
  delay(500);

  // join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
  Wire.begin();
  TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
  Fastwire::setup(400, true);
#endif

  Serial.begin(115200);
  while (!Serial);      // wait for Leonardo enumeration, others continue immediately

  // initialize device
  Serial.println(F("Initializing I2C devices..."));
  mpu.initialize();

  // verify connection
  Serial.println(F("Testing device connections..."));
  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));

  // load and configure the DMP
  Serial.println(F("Initializing DMP"));
  devStatus = mpu.dmpInitialize();



  mpu.setXGyroOffset(118);
  mpu.setYGyroOffset(-44);
  mpu.setZGyroOffset(337);
  mpu.setXAccelOffset(-651);
  mpu.setYAccelOffset(670);
  mpu.setZAccelOffset(1895);


  if (devStatus == 0)
  {
   
    Serial.println(F("Enabling DMP"));
    mpu.setDMPEnabled(true);

    Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)"));
    mpuIntStatus = mpu.getIntStatus();

    packetSize = mpu.dmpGetFIFOPacketSize();
  }
  else
  {
   
    Serial.print(F("DMP Initialization failed code = "));
    Serial.println(devStatus);
  }

  // configure LED for output
  pinMode(LED_PIN, OUTPUT);

} ===============================================================

void loop(void)
{
  processAccelGyro();
}   



void processAccelGyro()
{

  // Get INT_STATUS byte
  mpuIntStatus = mpu.getIntStatus();

  // get current FIFO count
  fifoCount = mpu.getFIFOCount();

  // check for overflow (this should never happen unless our code is too inefficient)
  if ((mpuIntStatus & 0x10) || fifoCount == 1024)
  {
    // reset so we can continue cleanly
    mpu.resetFIFO();
    Serial.println(F("FIFO overflow!"));
    return;
  }

  if (mpuIntStatus & 0x02)  // otherwise continue processing
  {
    // check for correct available data length
    if (fifoCount < packetSize)
      return; //  fifoCount = mpu.getFIFOCount();

    // read a packet from FIFO
    mpu.getFIFOBytes(fifoBuffer, packetSize);

    // track FIFO count here in case there is > 1 packet available
    fifoCount -= packetSize;

    // flush buffer to prevent overflow
    mpu.resetFIFO();

    // display Euler angles in degrees
    mpu.dmpGetQuaternion(&q, fifoBuffer);
    mpu.dmpGetGravity(&gravity, &q);
    mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
    mpuPitch = ypr[PITCH] * 180 / M_PI;
    mpuRoll = ypr[ROLL] * 180 / M_PI;
    mpuYaw  = ypr[YAW] * 180 / M_PI;

    // flush buffer to prevent overflow
    mpu.resetFIFO();

    // blink LED to indicate activity
    blinkState = !blinkState;
    digitalWrite(LED_PIN, blinkState);

    // flush buffer to prevent overflow
    mpu.resetFIFO();

    Servo1.write(-mpuPitch + 90);
    Servo2.write(mpuRoll + 90);
    //delay(10);

    // flush buffer to prevent overflow
    mpu.resetFIFO();

  } 
} 

conclusion

my Board is reading input value well and i hope it will work for my project

Download files

MPU 6050 CODE
PCB BOARD