[mschulkind]

It should be noted that there are no gyros in the kit. What you think is a gyro is really an accelerometer. The accelerometer will never feasibly measure how much you have turned. It is great as a tilt sensor or something similar, but without knowing your center of rotation and the mass rotating around that center, you will never get a reasonable readout of how much you have turned. The accelerometer in the orientation you are thinking of reads the centripetal acceleration, not radial acceleration.