Gyro not sending values?

[Fifthparallel]

Sorry to derail, but I had a question about the Gyro GetAngle function.


We want to incorporate the gyro that comes attached with the ADXL345 accelerometer in a Complementary filter which kinda looks like

angle = 0.98(angle + GyroAngularRateOfChange * dt) + 0.02(asin(Acceleration))

My question is whether the Gyro class already performs this integration for us in the GetAngle function (which according to the comments in the class header, it does), or if we need to find the rate of angular change ourselves with voltage readings and then do fancy things.