angle - the angle turned so far
w - the angulare rate read from the gyro
dt - delta time, the time between gyro readings
so the total angle turned is the the angle so far plus (the turn rate times the sample period)
angle - the angle turned so far
w - the angulare rate read from the gyro
dt - delta time, the time between gyro readings
so the total angle turned is the the angle so far plus (the turn rate times the sample period)