Interfacing 9-Axis GY-801 IMU Module with Arduino

/*
  Create on May 19, 2021
  Create by MohammedDamirchi base of https://github.com/DMohammed/GY-801
  
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*/


#include <Arduino.h>
#include "Wire.h"
#include "MMC5883.h"
#include <I2Cdev.h>
#include "L3G4200D.h"
#include "ADXL345.h"
#include <Adafruit_Sensor.h>
#include "Adafruit_BMP085_U.h"


L3G4200D gyro;
ADXL345 accel;
MMC5883MA MMC5883(Wire);
Adafruit_BMP085_Unified bmp = Adafruit_BMP085_Unified(10085);

int16_t ax, ay, az;
int16_t avx, avy, avz;
double baseline; // baseline pressure

void setup()
{
  Serial.begin(9600);
  Wire.begin();

  Serial.println("Initializing I2C devices...");
  gyro.initialize();
  accel.initialize();

  // verify connection
  Serial.println("Testing device connections...");
  Serial.println(gyro.testConnection() ? "L3G4200D connection successful" : "L3G4200D connection failed");
  Serial.println("Testing device connections...");
  Serial.println(accel.testConnection() ? "ADXL345 connection successful" : "ADXL345 connection failed");

  // data seems to be best when full scale is 2000
  gyro.setFullScale(2000);

  if (!bmp.begin())
    Serial.print("Ooops, no BMP085 detected ... Check your wiring or I2C ADDR!");

Serial.print("MMC5883MA ");
  MMC5883.begin();
  MMC5883.calibrate();
}

void loop()
{

  Serial.print(MMC5883.readData());

  Serial.print("     ");
  gyro.getAngularVelocity(&avx, &avy, &avz);

  Serial.print("gyro X:");
  Serial.print(avx);
  Serial.print("\tY:");
  Serial.print(avy);
  Serial.print("\tZ:");
  Serial.print(avz);
  // read raw accel measurements from device
  accel.getAcceleration(&ax, &ay, &az);

  // display tab-separated accel x/y/z values
  Serial.print("\taccel X:");
  Serial.print(ax);
  Serial.print("\tY:");
  Serial.print(ay);
  Serial.print("\tZ:");
  Serial.print(az);
  /* Get a new sensor event */
  sensors_event_t event;
  bmp.getEvent(&event);

  /* Display the results (barometric pressure is measure in hPa) */
  if (event.pressure)
  {
    /* Display atmospheric pressue in hPa */
    Serial.print("\tPressure:");
    Serial.print(event.pressure);
    Serial.print(" hPa");

    /* First we get the current temperature from the BMP085 */
    float temperature;
    bmp.getTemperature(&temperature);
    Serial.print("\tTemp:");
    Serial.print(temperature);
    Serial.print(" C");

    /* Then convert the atmospheric pressure, and SLP to altitude         */
    /* Update this next line with the current SLP for better results      */
    float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
    Serial.print("\tAltitude:");
    Serial.println(bmp.pressureToAltitude(seaLevelPressure,
                                        event.pressure));
  }
  else
  {
    Serial.println("BME Sensor error");
  }
  delay(1000);
 }