The basic sensors

So far I've determined that  my robotic tortoise will combine readings from a GPS unit and gyroscope in order to gain a sense of position and balance.  I've purchased an LA23060 GPS and an MPU6050 accelerometer/gyroscope and have successfully managed to established a combined data stream  through a single Arduino UNO.  This has taken quite a bit of work, but I think I have pretty good results with the following code:
/* MPU - VDD to 3.3V
           GND to GND
        INT to Digital PIN 3
        SCL to A5
        SDA to A4
        VIO to less than 3.3V source

   LS23060 - counting from the bottom left to right
        PIN 1 to 3.3V
        PIN 2 to Digital PIN 9
        PIN 3 to Digital PIN 8
        PIN 4 to GND    */

#include "MPU6050.h"
#include "Wire.h"
#include "I2Cdev.h"
#include "SoftwareSerial.h"

MPU6050 MPU;

int pos;
char buf[150];
int count;
char *p, *i, *t, *lat, *lon, *q, *z, *n;
float tt, llat, llon, zz, t1, t2, t3, t4, t5, lat1, lat2, lat3, lat4, lat5, lon1, lon2, lon3, lon4, lon5, z1, z2, z3, z4, z5;
int qq;

SoftwareSerial softserial(8,9); //RX, TX

int16_t ax, ay, az;
int16_t gx, gy, gz;
uint8_t range = 1;

void setup(){
  int error;
  uint8_t c;

  Wire.begin();
  Serial.begin(38400);
  softserial.begin(57600);
 
  pos = 0;
  z5 = 9;
  z4 = 8;
  z3 = 7;
  z2 = 6;
  z1 = 5;
 
  for (int i = 0; i < sizeof(buf); i++)
    buf[i] = 0;

  softserial.write(50);
    int bytesSent = softserial.write("$PMTK314,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0*2D\r\n");

 
  MPU.initialize();
  Serial.println(MPU.testConnection() ? "True":"False");
 
  MPU.setFullScaleGyroRange(range);
  MPU.setFullScaleAccelRange(range);
 
//  MPU.setSleepEnabled(false);
//  MPU.setWakeCycleEnabled(false);
}

void loop(){
    MPU.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  
      int xa = ax, ya = ay, za = az, xg = gx, yg = gy, zg = gz;
      float axa, aya, aza, axg, ayg, azg;
      int error;
      char c;
      char *p = buf;
      char str;
      int ind;

  
/*    Serial.print("a/g:\t");
    Serial.print(xa); Serial.print("\t");
    Serial.print(ya); Serial.print("\t");
    Serial.print(za); Serial.print("\t");
    Serial.print(xg); Serial.print("\t");
    Serial.print(yg); Serial.print("\t");
    Serial.println(zg); */

    axg = xg * 0.015037594;
    ayg = yg * 0.015037594;
    azg = zg * 0.015037594;
 
    Serial.println(axg, 3);
    Serial.println(ayg, 3);
    Serial.println(azg, 3);

    axa = xa * 0.00012207;
    aya = ya * 0.00012207;
    aza = za * 0.00012207;
      
    Serial.println(axa, 3);
    Serial.println(aya, 3);
    Serial.println(aza, 3);
      
    if (softserial.available() > 0) {
      c = softserial.read();
      if(c == '$') {
        buf[pos] = 0;
        Serial.println(buf);
          n = strtok_r(p,",",&p);
            if(n = "GPGGA") {
              t = strtok_r(p,",",&p);
              lat = strtok_r(p,",",&p);
              n = strtok_r(p,",",&p);
              lon = strtok_r(p,",",&p);
              n = strtok_r(p,",",&p);
              q = strtok_r(p,",",&p);
              n = strtok_r(p,",",&p);
              n = strtok_r(p,",",&p);
              z = strtok_r(p,",",&p);
              n = strtok_r(p,",",&p);
              n = strtok_r(p,",",&p);
          
              qq = atof(q);
              tt = atof(t);
              llat = atof(lat);
              llon = atof(lon);
              zz = atof(z);
          
  //            t5, lat5, lon5, z5 = history(qq, tt, llat, llon, zz);
//              Serial.println("time");
              Serial.println(tt, 4);
//              Serial.println("lat");
              Serial.println(llat, 4);
//              Serial.println("lon");
              Serial.println(llon, 4);
//              Serial.println("ele");
              Serial.println(zz, 4);
//              Serial.println("");
             delay(50);
          }

          else {
            Serial.println("Not GPGGA");
          }        
      pos = 0;
    }
   else {
      buf[pos] = c;
      pos++;
    
      if (pos >= sizeof(buf))
        pos = 0;
   
    }
  }
}
  
  
float history(int qq, float tt, float llat, float llon, float zz){
      if (qq =! "0") {
        Serial.println("Oh Shit");
      }
    
      else {
        t5 = t4;
        t4 = t3;
        t3 = t2;
        t1 = tt;
        lat5 = lat4;
        lat4 = lat3;
        lat3 = lat2;
        lat2 = lat1;
        lat1 = llat;
        lon5 = lon4;
        lon4 = lon3;
        lon3 = lon2;
        lon2 = lon1;
        lon1 = llon;
        z5 = z4;
        z4 = z3;
        z3 = z2;
        z2 = z1;
        z1 = zz;
      
        return t5, lat5, lon5, z5;
      }
I'm not a programmer in any way, so I'm sure there are plenty of mistakes with this "sketch," but it does produce consistant results that respond in a predictable fashion when there are changes in the sensor positions and orientations.