Thank you Lauszus
I'll give it a try!
Although it uses one more sensor (the magnetometer) I found this guy's work pretty amazing - the FreeIMU (library and hardware)
an Arduino library for reading the 3 sensors (the accelerometer and gyroscopes are the same as yours)
and performs all the sensor fusion needed for a simple interface
http://www.varesano.net/projects/hardware/FreeIMU
inside the library you can actually see 3 separate libraries, one for each sensor
Now I'm just unsure if going with the 6DOF that you so well explained...or the 9DOF of Fabio Varesano 
thanks for all the help
cheers
b.