Welcome A2,

You should have dropped in and said hello way back. We love photos here, so if you've got some of your DF then let's have em.
Re gyros: AD have scrapped their free sample program. Samples can only be procured through your local AD distributor. BGA devices ? Forget it ! Even with the correct IR ovens, you have to xray the pcb to see if it soldered properly. TSSOP packages are trouble enough.
Haven't compared Tokin and Murata gyros on the workbench, so can't answer your 'which is best' question. I'm interested to know your source of supply for both brands though. This is the one part of the DF that is hard to get hold of.
Strange thing about the Japanese semi manufacturers ..... as you say .. they're very fussy who they supply to.
There prescence on the web is limited and application info for their product is scarce.
It's a damn cultural thing I'm told. Look at the western companies .... TI, Maxim and National for example .... they can't wait to give you samples in order that you'll advertise their product for them.
Geez, those 3 companies are the reason my DF can fly !

Re Phillips 8051 ..... does this have multiple output compare registers ?

Cheers ADI