[Mark McLeod]

Originally Posted by Meandmyself

Current.theta is an unsigned int, and deltat is incremented every 25ms, so generally like 1 or 2. I'm going to try playing around with the order of operations, see if i can get it to work. What if instead of multipying by .08, I divided by 1/.08? would that still force the pic to use floating point calculations?

To stay away from all floating point (and maintain accuracy) do all your multiplication first followed by your divisions.
e.g.,

current.theta += (unsigned long) ((gyroin + gyroprev - 1023) * deltat * 8 / 100) + 2000;