Thank you! It’s great to hear a fix on the way. Just to make sure, this noise you’re talking influences the control loop itself too, not just the reading from getSelectedSensorVelocity, right?
We use Team 225’s FireLog (note that the text on the photo was added afterwards). We found it in their Ri3D video here, and the source code can be found here. This tool was and is very helpful for us.