[Joe Johnson]

Originally Posted by Joe Ross

We had this issue. However, as we were already reading the angle at 50hz, finding a reasonable assumption of turn rate wasn't hard, we used a threshold of 180 degrees, which means we'd have to be spinning at faster then 9000 degrees/sec to have a problem.

I think you also have the angular rate data from the navX. It gives you the angle estimate but it also gives you the rate that it things you have changed. You can use this to provide a check on your accumulation calcs. There are an infinite number of angular rates that can get you from one NavX position to another (due to the Mod 360 problem) but you should choose the one that is closest to the angular rate measured by the NavX.

My 2 Cents.

Dr. Joe J.