Calculating the angle of two MPU6050 simultaneously

hello!

i looking way measure angles 2 mpu6050 on same adruino simultaneously. attached sketch using.

mpu#1 works fine , nice data. however, data output mpu#2. values around 134 , not change when moving mpu. did wring calculation or wiring? ado (0x69??) of mpu#2 not connected gnd, connecting gnd not help.

i hope can help!

////////////////////////////////////////////////////////////////
// wiring of hardware
//
// arduino - mpu1 - mpu2
// a4 - sda1 - sda2
// a5 - scl1 - scl2
// 3.3 - vcc1 - vcc2- ado2
// gnd - gnd1 - gnd2
//
///////////////////////////////////////////////////////////////




#include<wire.h>
const int mpu_addr=0x68;
const int mpu_addr1=0x69;
double acx,acy,acz,tmp,gyx,gyy,gyz;
double acx1,acy1,acz1,tmp1,gyx1,gyy1,gyz1;
uint32_t timer;
double companglex, compangley;
double companglex1, compangley1;
#define degconvert 57.2957786



void setup() {
  // set mpu 6050:
  wire.begin();
  #if arduino >= 157
  wire.setclock(400000ul); // set i2c frequency 400khz
  #else
    twbr = ((f_cpu / 400000ul) - 16) / 2; // set i2c frequency 400khz
  #endif

 
  wire.begintransmission(mpu_addr);
  wire.begintransmission(mpu_addr1);
  wire.write(0x6b); 
  wire.write(0);     
  wire.endtransmission(true);
  serial.begin(9600);
  serial.println("cleardata");
  serial.println("label, time, companglex, compangley, companglex1, compangley1");
  serial.println("initializing i2c devices...");
  delay(100);

  //setup starting angle
  //1) collect data
  wire.begintransmission(mpu_addr);
  wire.begintransmission(mpu_addr1);
  wire.write(0x3b); 
  wire.endtransmission(false);
  wire.requestfrom(mpu_addr,14,true); 
  wire.requestfrom(mpu_addr1,14,true); 
  acx=wire.read()<<8|wire.read();     
  acy=wire.read()<<8|wire.read(); 
  acz=wire.read()<<8|wire.read(); 
  tmp=wire.read()<<8|wire.read();
  gyx=wire.read()<<8|wire.read(); 
  gyy=wire.read()<<8|wire.read(); 
  gyz=wire.read()<<8|wire.read(); 
  acx1=wire.read()<<8|wire.read();     
  acy1=wire.read()<<8|wire.read(); 
  acz1=wire.read()<<8|wire.read(); 
  tmp1=wire.read()<<8|wire.read(); 
  gyx1=wire.read()<<8|wire.read(); 
  gyy1=wire.read()<<8|wire.read(); 
  gyz1=wire.read()<<8|wire.read(); 
 

  double roll = atan2(acy, acz)*degconvert;
  double pitch = atan2(-acx, acz)*degconvert;
  double roll1 = atan2(acy1, acz1)*degconvert;
  double pitch1 = atan2(-acx1, acz1)*degconvert;
 
 
  double gyroxangle = roll;
  double gyroyangle = pitch;
  double companglex = roll;
  double compangley = pitch;
  double gyroxangle1 = roll1;
  double gyroyangle1 = pitch1;
  double companglex1 = roll1;
  double compangley1 = pitch1;

  //start timer
  timer = micros();
}

void loop() {
  wire.begintransmission(mpu_addr);
  wire.begintransmission(mpu_addr1);
  wire.write(0x3b); 
  wire.endtransmission(false);
  wire.requestfrom(mpu_addr,14,true);
  wire.requestfrom(mpu_addr1,14,true);
  acx=wire.read()<<8|wire.read();       
  acy=wire.read()<<8|wire.read(); 
  acz=wire.read()<<8|wire.read(); 
  tmp=wire.read()<<8|wire.read(); 
  gyx=wire.read()<<8|wire.read(); 
  gyy=wire.read()<<8|wire.read(); 
  gyz=wire.read()<<8|wire.read(); 
  acx1=wire.read()<<8|wire.read();     
  acy1=wire.read()<<8|wire.read(); 
  acz1=wire.read()<<8|wire.read(); 
  tmp1=wire.read()<<8|wire.read(); 
  gyx1=wire.read()<<8|wire.read(); 
  gyy1=wire.read()<<8|wire.read();
  gyz1=wire.read()<<8|wire.read();
 
  double dt = (double)(micros() - timer) / 1000000;
  double dt1 = (double)(micros() - timer) / 1000000;
  timer = micros();
 
  double roll = atan2(acy, acz)*degconvert;
  double pitch = atan2(-acx, acz)*degconvert;
  double roll1 = atan2(acy1, acz1)*degconvert;
  double pitch1 = atan2(-acx1, acz1)*degconvert;
 
  double gyroxrate = gyx/131.0;
  double gyroyrate = gyy/131.0;
  double gyroxrate1 = gyx1/131.0;
  double gyroyrate1 = gyy1/131.0;
 
  companglex = 0.99 * (companglex + gyroxrate * dt) + 0.01 * roll;
  compangley = 0.99 * (compangley + gyroyrate * dt) + 0.01 * pitch;
  companglex1 = 0.99 * (companglex1 + gyroxrate1 * dt1) + 0.01 * roll1;
  compangley1 = 0.99 * (compangley1 + gyroyrate1 * dt1) + 0.01 * pitch1;
 
  serial.print("data, time,"); serial.print (companglex, 4); 
 serial.print(","); serial.print (compangley, 4);
 serial.print(","); serial.print (companglex1, 4); 
 serial.print(","); serial.println (compangley1, 4);
 }

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