[Biff]

As I understand what's going on in Keven's code it's like this. The process takes over the A/D, and at regular (that's the key) intervals reads the gyro chip and adds or subtracts from an accumulator. From there you can get heading. This may be a large over simplification and is a I understand the process, Kevin really has the skinny on how it works. I suggest you read his read me, notes on the process.