>What about an initial zero read routine in the gyro software?
>It would of course have to assume that the heli is not rotating when it is
first
>powered, but that is usually the case, so....

Arcamax does exactly this.  The unit must be stable for several seconds at
powerup.  This establishes initial directional data and noise threshold.

>Why would you want to integrate the signal?

Direction hold.

>Isn't this kind of a closed-loop thing? You apply opposite tail rotor
until the
>rotation stops? (Or until a preset deadband is reached)

Closed-loop.  Use PID control theory.

Andy


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Andy Kunz - Statistical Research, Inc. - Westfield, New Jersey USA
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