[aviv]

You need to set the gyro's bias.. You do this by using the Start_Gyro_Bias_Calc() and
Stop_Gyro_Bias_Calc(). Let The start_bias_calc() run for a few secs while the robot isn't moving.

If you need anymore help u can email me at avivgalon@gmail.com

I haven't seen you for a while... (Samur)