What is a gyroscope with the output of the angle and not the angular velocity?

Question

Iron

I'm assembling a quadcopter, I settled on a problem with stabilization. I wanted to use the L3G4200 gyroscope, but it does not give out an angle, but an angular velocity. I can confuse concepts, but the accelerometer should show the angular velocity, not the gyroscope ?! The question is which board or microcircuit to use so that I can get exactly the angle of inclination!

Answer 1

The angle of inclination is obtained precisely from the accelerometer. Measure the appearance of acceleration on horizontal projections (taking into account a controlled increase in horizontal speed). If there is a projection along Y then pitch, if along X - roll.
The gyroscope is needed only to deal with uncontrolled rotation along certain axes.