[mikets]

The gyro actually gives you angular velocity (turn rate), but the FPGA is doing integration for you. If you are calling the GetAngle() method, I believe you will get the accumulated angle. So if you turn several rounds, for example, you could get angle values > 360 or < -360. Remember, it is not a compass. It doesn't give you absolute heading. If only gives you current angle relative to your starting angle.