Sensor Values are drifting

So I wrote a sketch using Dr Owens tutorial to see the sensor values the ardupilot 2.6 was outputting. When I upload the code to the ardupilot and run serial monitor, my pitch goes to -2.1 and stays there. My roll goes to -1.4 and stops there. My yaw

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Do you have to have a rate controller?

I've been reading some academic papers such as

http://rwbclasses.groups.et.byu.net/lib/exe/fetch.php?media=quadrotor:beardsquadrotornotes.pdf

and 

http://andrew.gibiansky.com/blog/physics/quadcopter-dynamics/

There are only three PIDs in these papers and

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