[intellec7]

I am not sure if this applies to your case, but if you're integrating the gyro output to get angular position, and then differentiating it to get the change in angular position, wouldn't it be more efficient to just scale the rate output of the gyro? I think that you are differentiating the error though, I am not sure if this has any advantage. From my understanding, the D term of a PID loop is to slow down as you approach the goal, to reduce overshooting/oscillations.