[carlos_85]

sorry again,
what do you do to change V per tenth-deg to V per seg?
i see that 2000 is the result to divide 1/0,0005 but i don't understand it.

By other side,

int Get_Gyro_Rate(void)
{
// Return the calculated gyro rate to the caller.
return((int)((((long)gyro_rate * GYRO_SENSITIVITY * 5L) / ADC_RANGE)) * GYRO_CAL_FACTOR);
}


5L, what is this?
thank you