[Michael DiRamio]

My guess is that they don't want to fire if they have been knocked off angle from the target, but would like to start firing again if their robot once again faces the target.

If so, I'd suggest not ending autonomous mode and trying to start it again, instead modify your autonomous so that each cycle a check is done to determine if you should be firing or not:

<get update from gyro>

if (<gyro in accepted range>)
{ <fire>
} else
{ <don't fire>
}

So that each time the sensor data is updated, the check will be done again.

I'm fairly new at this, so my apologies if I'm off base here.