[Jim E]

We prototyped the Gyro tonight and had some success with it.

Definitely solder the connections to the Gyro board, and mount the gyro to a hefty piece of metal so that it is parallel to the horizontal plane.

We used Kevin Watson's 2006 default gyro code to test it. The readings in tenths of a degree were pretty accurate when rotating the device.

The gyro velocity angle is still a little confusing to us. I'm not sure it provides useful information.

Keep in mind that all readings are based on the intitial gyro bias calculation at startup. If the gyro is abruptly disturbed after this calculation, all readings may be corrupted and will be suspect.

Temperature can also introduce drift in the readings.

We have more work to be done. However , it will probably only be used for Hybrid-mode anyway.