[Donut]

The ADXRS150EB has a sensitivity of 12.5mV/°/s and reads the turning rate of itself, so to ensure that the aircraft does not turn too fast, you should just need to read the value of the gyro and then compare it to a limit on speed. For example, if you wanted to make sure to never turn faster than 20°/s, you would just read the value of the gyro and make sure it is not more than 250mV over or under 2.5V (which is typically the voltage when stationary of the gyro, you might want to test it and find out what yours is though).