[devicenull]

Here's the thing: Either you need to detect when your driver is trying to go straight, and use the gyro then, or modify the drive code so it changes the angle that the gyro want's to be.. Unless you just want some sort of position holding code.

Either way, download the package of files for the gyro, take a look at how its used in user_routines.c, there's a bit more you need to do then just Reset_Gyro_Angle()