The CMPS12 is our 4th generation tilt compensated compass. Employing a 3-axis magnetometer, a 3-axis gyro and a 3-axis accelerometer. At the core of the module is the superb BNO055 runningalgorithms to remove the errors caused by tilting of the PCB.Power supply requirements are flexible, you can feed between 3.3 - 5v and the module draws a nominal18mA of current. A choice of serial or I2C interfaces can be used for communication.

Overview of outputs

Heading, 16 bit – 2 outputs, one calculated by Bosch and one by us
Heading, 8 bit – 0-255 scaled for simpler requirements
Pitch – +/- 0-90° or +/- 0-180°
Roll – +/- 0-90°Temperature – current temperature of the BNO055 in °c
Raw sensor outputs – 3 x 16 bit integers for each of the Magnetometer, accelerometer and gyro

Full Technical Data, and the Compass FAQ 

We also have a free design for a 3d printed tower here

Examples:
I2C bus tutor - general I2C guide
Arduino - I2C interface or a serial interface and displaying data via the serial monitor
ATMEGA32 - reading the result and displaying on a LCD03/LCD05
PIC18F4410 - reading the result and displaying on a LCD03/LCD05
PIC24FJ16GA002 - reading the result and displaying on a LCD03/LCD05
Picaxe18x - I2C communication example
Raspberry Pi - using I2C communication