gyro.h

#include "MPU6050.h"

class GyroPacket {

public:
  int16_t _ax, _ay, _az;
  int16_t _gx, _gy, _gz;
  int16_t _rx, _ry, _rz;

  double t,tx,tf,_pitch,_roll,_yaw;
  
  GyroPacket(int address, MPU6050 sensor);

  bool isMoving();

  // acceleration
  int16_t ax();
  int16_t ay();
  int16_t az();

  // gyro
  int16_t gx();
  int16_t gy();
  int16_t gz();

  // rotation
  int16_t rx();
  int16_t ry();
  int16_t rz();

  double pitch();
  double roll();
  double yaw();
  
private:
  int address;
  bool moving;

  //convert the accel data to pitch/roll
  void getAngle(int a, int b, int c);
  
};

gyro.cpp

#include <math.h>
#include <Wire.h>
#include "I2Cdev.h"
#include "MPU6050.h"
#include "gyro.h"


GyroPacket::GyroPacket(int address, MPU6050 sensor) {
  this->address = address;

  sensor.getMotion6(
    &_ax, &_ay, &_az,
    &_gx, &_gy, &_gz
  );

  sensor.getRotation(
    &_rx, &_ry, &_rz
  );

  getAngle(_ax, _ay, _az);
  
  this->t = ((sensor.getTemperature() - 1600) / 340) + 36.53;
  this->tf = (this->t * 9 / 5) + 32;

}

int16_t GyroPacket::ax() {
  return _ax;
}
int16_t GyroPacket::ay() {
  return _ay;
}
int16_t GyroPacket::az() {
  return _az;
}
int16_t GyroPacket::gx() {
  return _gx;
}
int16_t GyroPacket::gy() {
  return _gy;
}
int16_t GyroPacket::gz() {
  return _gz;
}
int16_t GyroPacket::rx() {
  return _rx;
}
int16_t GyroPacket::ry() {
  return _ry;
}
int16_t GyroPacket::rz() {
  return _rz;
}

//
////convert the accel data to pitch/roll
void GyroPacket::getAngle(int a, int b, int c) {
  double x = (double)a;
  double y = (double)b;
  double z = (double)c;
  double pitch = atan(x / sqrt((y * y) + (z * z)));
  double roll = atan(y / sqrt((x * x) + (z * z)));
  double yaw = atan(z / sqrt((x * x) + (y * y)));
  //convert radians into degrees
  this->_pitch = pitch * (180.0 / M_PI); //3.14159265359);
  this->_roll = roll * (180.0 / M_PI); //3.14159265359) ;
  this->_yaw = yaw * (180.0 / M_PI); //3.14159265359) ;

}

//convert the accel data to pitch/roll
double GyroPacket::pitch() {
  return _pitch;
// double pitch = atan((double)_ax / sqrt(((double)_ay * _ay) + (_az, _az)));
// return pitch * (180.0/M_PI);
}

double GyroPacket::roll() {
  return _roll;
// double roll = atan((double)_ay / sqrt(((double)_ax * _ax) + (_az * _az)));
// return roll * (180.0/M_PI);
}

double GyroPacket::yaw() {
  return _yaw;
// double yaw = atan((double)_az / sqrt(((double)_ax * _ax) + (_ay * _ay)));
// return yaw * (180.0/M_PI);
}