added function

[Bernd54Albrecht]

added 3 functions to the module:
def get_y_rotation(self,x,y,z):
radians = math.atan2(x, math.sqrt((yy)+(zz)))
return -math.degrees(radians)

def get_x_rotation(self,x,y,z):
    radians = math.atan2(y, math.sqrt((x*x)+(z*z)))
    return math.degrees(radians)

def get_z_rotation(self,x,y,z):
    radians = math.atan2(z, math.sqrt((x*x)+(y*y)))
    return math.degrees(radians)

and 3 lines to the sample:
print(mpu.get_x_rotation(accel[0],accel[1],accel[2]))
print(mpu.get_y_rotation(accel[0],accel[1],accel[2]))
print(mpu.get_z_rotation(accel[0],accel[1],accel[2]))

any idea, how to calibrate the sensor? Greetings Bernd54Albrecht@gmail.com

[rjsdotorg]

@Bernd54Albrecht @TimHanewich (you might want to edit your code snippet)
You can do zero and one g cals with the sensor board oriented respectively on a flat, level surface (assuming the pic-and-place assembled it squarely). Lay it flat for z, or on edge with a square to see one g in x or y.
Gyros are zero'd simply sitting still. I have put mine on my 33-1/3 turntable to check rate scale, but one has to be quite careful to have the chip centered well.
https://invensense.tdk.com/wp-content/uploads/2015/02/MPU-6000-Datasheet1.pdf