Changes

While the Wiimote is still, the values will be about 0x1F7F (8,063), although it is best to calibrate for a few seconds every time you start, to get the actual zero values.

While the Wiimote is still, the values will be about 0x1F7F (8,063), although it is best to calibrate for a few seconds every time you start, to get the actual zero values.

Voltage reference is 1.35V that you can assume it as 8192 (half of the ADC range), using 2.7272 mV/deg/s, so 8192 is 594 deg/s, so you must divide by  ~13.79 unit/deg/s (594/8192 ) to know the correct deg/s.

 

Voltage reference is 1.35V that you can assume it as 8192 unit (half of the ADC range), using 2.7272 mV/deg/s, 8192 is 594 deg/s (1.35v/2.72mv), you must divide by  ~13.79 unit/deg/s (594/8192) to know the correct deg/s.

At high speed (Low speed bit = 0) raw values read are small with the same deg/s to reach higher values on top, so you must multiply it by 2000/440 (they are the max reference in the two modes in deg/s [http://invensense.com/mems/gyro/idg650.html]). Example: reading 8083 raw value, in slow/normal mode it is 1 deg/s in fast mode is 1*2000/440=4.5454 deg/s.

At high speed (Low speed bit = 0) raw values read are small with the same deg/s to reach higher values on top, so you must multiply it by 2000/440 (they are the max reference in the two modes in deg/s [http://invensense.com/mems/gyro/idg650.html]). Example: reading 8083 raw value, in slow/normal mode it is 1 deg/s in fast mode is 1*2000/440=4.5454 deg/s.