[nobtiba]

Thank you very much for your very useful information. In this pdf file it says that: "if your're integrating, you don't need to filter-the effect of improved resolution will be taken care of by the integration". Now I need integrate to change angular rate to angular, so I needn't average the samples?
In Kevin's code (gyro.h, gyro.c) the time lapse between samples decided by programmer with a timer. If this interval (time) shorter, is the angular get more exactly?