Need help in mapping the gyro value to control brushless motors.

I am trying to get a value of -250 to 250 as an output using the map function, but I am not getting it right
I am using the standard code for the mpu6050 and changed the offsets of my mpu6050 accordingly for
YPR values to show "000" degree. I want to get (-90 degree to 90 degree) ------- (-250 to 250)...

Thank you..

Your post might make sense if you explained what the gyro and brushless motor are supposed to do.

Please read the "How to use this forum" post for hints on how to ask sensible questions, and get useful answers.