Here is a P2 program grabbing yaw, pitch and roll outputs from the BNO080 IMU chip in "robotic vacuum cleaner" mode.
100 times a second it sends out a 115200 b/s serial string of 19 bytes with yaw, pitch and roll information.
No calibrations needed.
I sent the data out to the new debug "plot" feature in pnut.
The board is from sparkfun.