Not clear to me just what the motors are driving. Is it an indicator or does
it feed back to the gyro by changing the vehicles direction?

In order to fix your problem I suspect you may have to do something to get
your motors to move within the shortest update period. From your description
I take it they are stepper motors. Then you may have to ramp up the stepping
rate to a speed that allows them to complete the movement inside the time
period, and ramp down again.

Do you really need the dead time while receiving the data stream? I would
have thought a suitable interrupt driven set of routines would have handled
two motors and a serial stream with ease.

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