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Originally Posted by Joel J.
I guess I'm just a bit confused as to what is happening here. Is there a bit of math that I didn't think about?
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Ugh, I'll have to work through it. The gyro expression looks convoluted because it's hand-tuned to minimize integer division rounding error while not overflowing the numerator. While I'm looking at it, you might consider working through it yourself using dimensional analysis. Keep in mind that gyro_angle is not in angular units <grin>.
-Kevin