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Re: Gyro stability?
One thing to look out for is that Gyros are temperature sensitive, and they mildly self heat. The net effect is that their zero response will drift a bit as they temperature stabilize. The cRIO measures the zero response as part of initializing the gyro.
You might find that you get a better response when the Gyro has been running before the code starts - such as when you are doing development and resetting the cRIO often. In competition you might be starting with a cold gyro, and this might result in a worse drift.
If you are getting a 1 degree / minute drift from a cold boot, stop trying to fix it. That is a great response for FRC, and you're likely to be wasting your time trying for better.
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