Big,
See this: RC Groups - View Single Post - DIY head tracker from cheap heli gyro (seems to work!)
Mike,
Thanks for the paper, interesting reading!
I had to use some high pass filter for my gyro because not only does it need to be calibrated at the start, it will drift slowly due to temperature, voltage changes. If you have a better quality gyro, it might not be a huge problem.
As far as the sampling is concerned, I think the number of samples is less important than how long you sample. So your method is probably better, I was lazy so I used a simple for loop!
Cheers,
-Z-