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Re: Bias Calc
Once the bias of the gyro is calcuated once anywhere, it'll stay that way until you reset it or you turn of the RC (or something wierd happens to the RC's memory of course...).
Alternativly you could find the bias, output the bias, and then code the bias directly in using the number you found without actually calculating it at the start of the autonomous
P.S. If you don't have a consistent gyro the second part might not be the smartest thing, but if it seems to have the same bias all the time it can be a good idea (we used it last year)
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