If you also want barometric data, check out the Adafruit 10DOF breakout, which adds a BMP180 barometric pressure sensor to measure altitude and temperature.
After testing a lot of combinations of sensors, we settled on the following devices that we think offer the best results and the least amount of hassle:
- LSM303DLHC - a 3-axis accelerometer (up to +/-16g) and a 3-axis magnetometer (up to +/-8.1 gauss) on a single die
- L3GD20 - a 3-axis gyroscope (up to +/-2000 dps)
For information about these particular drivers, consult the following learning guides: