Can I connect a gyro sensor to the Omega-2+?
Can I connect a gyro module such as MPU-2950 or some other to the Omega-2+?
And is there any instructions for this?
You mean a MPU-9250?
I would refer to the Arduino libraries and hookup guides. Porting the code from https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library seems feasible since it has its I2C logic abstracted into one file.
The hookup guide from https://learn.sparkfun.com/tutorials/mpu-9250-hookup-guide shows that for a basic setup you just need VCC,GND,SCL,SDA (I²C).