[Russ Beavis]

A couple of things to keep in mind about gyros -

1) you could be experiencing an error due to nonlinearity (although the 1.5% difference between your CW and CCW results is a bit higher than the spec for the gyro)

2) you may still have some residual offset error in the gyro (most likely in my opinion)

3) your gyro may be "leaning" when turning CW instead of CCW (or vice versa) and causing an effective gain change (but again 1.5% is a bit high since the "lean" would have to be about 10 deg of tilt (cos(10) = 0.985))


I'd recommend running the same tests that you've been doing (specifically duration of time) but without any physical rotation. I'm guessing that you'll observe a non-zero heading at the end of the time interval (probably 1.5 degrees).

Russ