[Doug Leppard]

Originally Posted by EricS-Team180

I agree with kaszeta, here. We've used AnalogDevices yaw rate sensors since 2004. While in competition (disabled) mode, we simply read the gyro and average it with the previous reading. When the mode changes, the final averaged value becomes our neutral point, which we use for the match. In the past many teams have taken several hundred samples during competition mode and created an average neutral point from them. Either way gives you a good 0 yaw rate point to use for the next 2:15

Eric

Thanks that was exactly what I hoped for and was thinking must be possible.