GY-85 Help

Could someone help me adapt this code to also deal with yaw? My senior design team bought a GY-85 breakout board, and we are using an arduino micro.

Example-Sketch-for-IMU-including-Kalman-filter with IMU/ITG3205_ADXL345

Any help would be much appreciated.

Perhaps this would be a better starting place: http://sourceforge.net/projects/gy80facetrack/