diff --git a/code/headers/frame_types.hpp b/code/headers/frame_types.hpp
index 5ee81b8..d6448cb 100644
--- a/code/headers/frame_types.hpp
+++ b/code/headers/frame_types.hpp
@@ -45,6 +45,7 @@ namespace r2d2 {
         MAP_OBSTACLE,
         END_EFFECTOR_TYPE,
         END_EFFECTOR_CLAW,
+        GYROSCOPE,
 
         // Don't touch
         EXTERNAL,
@@ -633,6 +634,23 @@ namespace r2d2 {
         uint8_t gas_id;
     };
 
+    /*
+    * This frame will be send from the gyroscope module.
+    * It will if you want the gyroscope data or the acceleration data
+    * wiki page: https://github.com/R2D2-2019/R2D2-2019/wiki/Gyroscope
+     */
+    R2D2_PACK_STRUCT
+    struct frame_gyroscope_s{
+        // bool to signal you want the gyroscope data
+        bool gyroscope;
+        // bool to signal you want the acceleration data
+        bool accel;
+        // the x, y and z variables that will be filled with the axis values from either gyroscope or the acceleration
+        int16_t x;
+        int16_t y;
+        int16_t z;
+    };
+
     /*
     * This is a frame that will be send to the sound module. 
     * It contains a simple rtttl string