MPU-6050 start drift

[DzAnej]

Hi there!

I am making a Hexacopter and I have a problem with the gyro (MPU-6050). After the callibration of the gyro is completed (in setup - the average of 2000 readings) the angle is decreasing for a few seconds...

The gyro is still on the flor and level while the readings were took.
Here is the graph:



You can see that after 30-40 seconds the angle settles stable.

Is this some kind of a problem with the internal buffer of the gyro? Do I need to set some specific registers to get rid of this problem?