[Mike Bortfeldt]

Eric,

Drift is common when using a gyro and the WPILib does not have an easy way to compensate for it. As Joe mentioned, you can reset it occasionally when you are at a known heading (against a field element for example), or you could create your own compensating algorithm outside the gyro class. One thing that has helped us, is to allow the gyro a little more time to "warm up" (approx. 10 seconds) before instatiating the gyro object. This gives the gyro a few more seconds to reach temperature stability before the WPILib obtains a "zero" point. It will still drift, but perhaps not quite so quickly.

Mike