Best gyro for frc.

[Andrew Schreiber]

Originally Posted by seg9585

Correct -- I accumulated the last 50 samples, averaged the value (divide by 50), and calculated the new heading (this means the heading is updated at 20Hz, not every 20ms).

The reason I had to do this is because the most accurate Timer I could find in the Arduino was only accurate to the nearest 1ms and this introduced significant heading error when calculating time delta, particularly at high rates.

Happy to post my code if interested.

What do you mean the most accurate timer was 1ms? Unless you meant microsecond instead of the millisecond I'm assuming that means.