@ richiereynolds
I'm using a nother GYR called LPR510AL and that one has a sensitivity of 10 mV/(°/s) at ±100°/s.
It looks like I have made a miss calculation where it should have been:
// ARef=3.3V, Gyro sensitivity=10mV/(deg/sec)
// in quid/sec:(1024/360)/1024 * 3.3/0.010)
return int((sensorValue[GYR_Y] * 0,9166679)*-1);
Measurement range: ±100°/s and ±400°/s
Sensitivity: 10 mV/(°/s) and 2.5 mV/(°/s)
That could explain some errors I been having..
Sorry 
I have rebuild my robot lighter but I haven't fixed the electronics on It yet hopefully I will get It done next week.
I have also ported the GUI to the .net platform but I'm not satisfied with the serial communication. Is there any one how has a good idea how to send the amount of data I'm doing in a better way.
Like it is now it will not be able to send it and still be able to keep the fixed loop time at 10ms. I solve it by only sending data to the GUI each 5 loops..