[John Gutmann]

Ok, so I have spent a few hours playing with this. calculating the bias is working well. I added a tolerance constant. This works very well. One thing I noticed is because of my awkward neutral value the linearity of this is well....not linear any more so I had to add in scaling values because it will be mostly consistent in either direction, but the mV/deg/sec isn't the same for above and below the neutral value. It is more or less decent for getting in the ballpark. But I am beginning to think just by the behavior of the device that it is broken in some way. I know it is a VERY old gyro that i got from my team at least 2 years ago. So I am going to see what it is going to take to get a new working gyro from somewhere. This way I won't be programming in circles.

-John