[acastagna]

We had a lot of inconsistent behavior (unacceptably high drift, sudden rapid changes in angle) from the one you show in the picture, and went to the ITG-3200 gyro/accel available on Andymark this year.

Programming a custom interface took some effort, but so far we have had great results. Drift is less than 1 degree during a match and we can get a reliable calibration much faster. We have it integrating the rotation rate in a separate thread, and then we query it once per driverstation cycle to get the angle.