[mikets]

That's what I am thinking, doing a 0G calibration. But why do I need to do 0G calibration dynamically? Shouldn't it be enough doing it once at the beginning? I imagine it may be necessary if I am on a slope but then 0G will change if you change heading, so 0G calibration is useless on a slope anyway. But if I only care about level ground, doing 0G calibration at the beginning should be enough unless 0G point will change with time (or with temperature like the gyro). Even if it does change with time or temperature, the one-time calibration should be good enough for the duration of the competition.