Sending sensor data to UDP Server.

Step 1 >> Upload a Bare Minimum Code for your Board.

Choose your board that you will be using to program your ESP. e.g Arduino Nano.

Step 2 >> Download ESP8266 library & Board and add to the Arduino IDE.

Step 3 >> Select Board as Generic ESP8266 and Upload the esp.ino file to the ESP

Connections

Tx - Tx
Rx - Rx
VCC- 5V
GND - 0V
GPIO0 -0V
CH_PD - 5V
Arduino Reset- Arduino GND

Step 4 >> Upload the esp.ino code.

Step 5 >> Disconnect your Arduino Board, Make the Connection (Don't power now)

Connections

Tx - Rx
Rx - Tx
VCC- 5V
GND - 0V
GPIO0 -open
CH_PD - 5V
Remove Arduino Reset from Ground.

Step 6 >> Start Sending Data to Serial Monitor of the Arduino using sensor.ino file

As we are using MPU6050, we need some extra libraries. Copy I2Cdev and MPU6050 to your libraies folder in Arduino.
Make connections according to conn.png
Open MPU6050_DMP6 example from MPU6050 Library.
Make this file ready to output YPR data. Remove waiting condition and extra strings.
Typical Output Format >> pitch_tab_roll