[tStano]

If you're only using it for autonomous, you should be fine, as it will go off by about 3 degrees over the whole period(.2*15).

However, if you're planning to use it throughout the match(a field-centric drivescheme or on an arm or something) you should look into resetting the sensor when its in a known orientation

Alternately, if you know its a constantish .2 degrees per second, you can account for that when you read the gyro. Start a timer and subtract .2*timerReading whenever you read the gyro. This might be a poor solution because its not a constant .2 degrees per second, but it might get you something better than what you have.

Another solution we're considering is noise reduction. Wrapping the sensor in a few layers of electrical tape(to insulate it so you don't short it) and then in aluminum foil should help block some of the magnetic and electric fields present on your robot. It won't eliminate gyro drift, but it might help to minimize the problem.