[otherguy]

Yea I was wondering if the gyro zeroed after the reset() was called myself, our command code was running after the code I listed above. This code was also printing out the current gyro angle. In the innumerable times I executed code, I never witnessed the current angle to suddenly jump to zero (what you would expect to happen if it were time related).

We are latching in our current heading at the beginning of commands as a workaround. There still seems to be a bug though.

Would anyone mind instrumenting their code and seeing if the problem is present on your hardware as well? All of my crios are tied up at the moment.