1. It took me a long time to convince me that I need 10k Pull-Up Resistors on SCL and SDA pins off MPU-6050 module. But they are vital for the MPU to function properly. Before I added those resistors, my MPU would cause lock-up w/in a minute of power-up. Also pay attention to the #2 and #3 below for complete solution.

(Updated on 1/17/16)

2. Jeff Rowberg @ I2CDevlib.com points out ADO pin must be connected to GND (I2CDevlib.com post).

3. ArsenioDev also points out that baud rate for MPU should be kept at maximum 115200.

4. Thank you for the tips! The tips above completely solved my lock-ups!

5. I'm now running on a DIY Uno w/ ATmega32P-PU w/ clock and two caps and it's running equally great! ATmega by itself only takes about 3ma right now, aside from the MPU and Servo powers.

For wire connections, use the diagram or pictures as a reference. (Also explained in the code)

MPU -> Arduino

VCC -> 5V (this powers the rail and hence the whole system including the servos)

GND -> GND

SCL -> A5

SDA -> A4

INT -> D2 (I have it but not used in current software. I'm polling, not interrupting in this set up)

IMPORTANT: In addition to the wires above, two 10k resistors:

SCL -> 10K resistor (BROWN-BLK-ORANGE-Whatever) -> 5V Rail

SDA -> 10K resistor -> 5V Rail

ADO -> GND (Per Jeff Rowberg @ I2CDevlib.com - See Above)

SERVO 1 -> Arduino

This is the first servo taped (I know it's totally a hack job) on the breadboard, and this is oriented so that it would rotate around the long (or longitudinal or roll) axis. My servos had Brown-Orange-Yellow wires.

BROWN -> GND

ORANGE -> 5V Rail

YELLOW -> D10

SERVO 2 -> Arduino

This is the second servo that is mounted to the servo 1 which controls the pitch axis. Again, it's wrapped even worse than the first one so it's barely visible in the picture.

BROWN -> GND

ORANGE -> 5V Rail

YELLOW -> D11