Hi Moti,

Well, if the question was really worth a million dollars, I'd be a lot more motivated to find an answer

Seriously, I'm not sure anyone can answer the question about frame size without a lot of tedious experimentation. Even then, if TI doesn't calibrate the same every time, then there's never going to be one right answer for that part of the equation.

Since Mad Scientist Mike has hinted that he's working on a variable gyro gain project, and hopes to make an announcement this coming week, you might still want to sit tight and see what sort of diabolical project he's come up with

Rusty