[eugenebrooks]

Kevin,

You are indeed missing something. By carefully averaging
the no rotation signal, you can obtain accuracy (on average)
that is better than the ADC quantization. This improved
accuracy shows up in the resulting time integral of the gyro.

I would happily share our gyro code with you if you would
like to explore it, use it, or make some version of it generally
available. I have learned a lot about PIC interrupts studying
your code, perhaps you have one small thing to learn by
studying mine. The code, however, also uses methods to
avoid race conditions that I remember, quite well, you don't
like.

Eugene