Looking at the KOP Gyro

[DjScribbles]

The argument for the bias vs sensitivity does make sense; can the same pattern be applied to the bias instead of the sensitivity? (i.e. is there a Gyro::SetBias method)

Also, what was the final sensitivity value you reached with this calibration? Was it a realistic value?
If what you did cut down on the drift significantly when deg/s = 0, it seems as though it would have to push the sensitivity to an extreme value where any error in bias would not accumulate as any significant angular value (but the voltage error would still be present); and in this case, the reported angle would be very inaccurate when any rotation is applied.

[wireties]

Originally Posted by DjScribbles

The argument for the bias vs sensitivity does make sense; can the same pattern be applied to the bias instead of the sensitivity? (i.e. is there a Gyro::SetBias method)

Also, what was the final sensitivity value you reached with this calibration? Was it a realistic value?
If what you did cut down on the drift significantly when deg/s = 0, it seems as though it would have to push the sensitivity to an extreme value where any error in bias would not accumulate as any significant angular value (but the voltage error would still be present); and in this case, the reported angle would be very inaccurate when any rotation is applied.

We limited the change in sensitivity to the range specified in the datasheet. The final number was different for each gyro. We tried three and got 0.0064, 0.0065 and 0.0066. They still drift some but less so.

I realize this is not a full-scale dynamic calibration. Such a calibration is an elaborate exercise. But the gyros consistenly drift sitting on the bench. If they are measuring noise I figured we could try to get the noise measurements to be around zero.