[yoyodyne]

In that last post, I didn't address the gyro drift performance...

With a deadband of 10 it is pretty good. For example the beginning of our navigation dump file shows that the gyro drifted from 45.0 degrees to 44.999695 degrees in the period from when the robot was turned on RobotInit() until the field enabled autonomous which is maybe a minute or two?

In the dump section below, the robot was commanded to execute a CCW arc turn of 20 degrees/second with a forward speed of 0.5 until the heading was 0 degrees. x and y are the estimated field coordinates using the left and right odometry wheels and the gyro. h is the gyro heading, oh is the estimated gyro heading from using the odometry wheels alone, ox and oy are the estimated field coordinates using the left and right odometry wheels only (not the gyro). ror and rol are the raw encoder counts for the right and left odometry wheels.

arc: rate: -20.000000
arc: speed: 0.500000
arc: angle: 0.000000
arc: timeout: 10.000000
Nav: x: 4.000000, y: 4.000000, h: 44.999695, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 44.999695, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 44.999695, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 45.002197, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 45.002167, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 44.997162, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 44.988068, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 44.989807, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 44.992462, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 44.992462, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 44.990997, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 44.989685, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 44.994049, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 45.000427, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 45.004486, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 45.007355, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 45.008381, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.000000, y: 4.000000, h: 45.008022, ox: 4.000000, oy: 4.000000, oh: 45.000000, ror: 5, rol: 5, Arc:
Nav: x: 4.002983, y: 4.002983, h: 45.004089, ox: 4.002979, oy: 4.002987, oh: 44.925629, ror: 7, rol: 6, Arc:
Nav: x: 4.003977, y: 4.003977, h: 44.996216, ox: 4.003973, oy: 4.003981, oh: 45.000000, ror: 7, rol: 7, Arc:
Nav: x: 4.005965, y: 4.005966, h: 44.985992, ox: 4.005961, oy: 4.005970, oh: 45.000000, ror: 8, rol: 8, Arc:
Nav: x: 4.008946, y: 4.008950, h: 44.970764, ox: 4.008940, oy: 4.008956, oh: 44.925629, ror: 10, rol: 9, Arc:
Nav: x: 4.011928, y: 4.011935, h: 44.966827, ox: 4.011915, oy: 4.011947, oh: 44.851257, ror: 12, rol: 10, Arc:
Nav: x: 4.013915, y: 4.013925, h: 44.959839, ox: 4.013899, oy: 4.013941, oh: 44.851257, ror: 13, rol: 11, Arc:
Nav: x: 4.016895, y: 4.016910, h: 44.955292, ox: 4.016878, oy: 4.016928, oh: 44.925629, ror: 14, rol: 13, Arc:
Nav: x: 4.020870, y: 4.020890, h: 44.957764, ox: 4.020850, oy: 4.020910, oh: 44.925629, ror: 17, rol: 15, Arc:
Nav: x: 4.022856, y: 4.022881, h: 44.940948, ox: 4.022836, oy: 4.022902, oh: 44.925629, ror: 18, rol: 16, Arc: