Changes

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.

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 (slow 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 (slow 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 1,45 deg/s in fast mode is 1.45*2000/440=6.59 deg/s.

Yaw/Roll/Pitch fast/slow bits are 1 when the Wii Remote is rotating slowly (or not rotating at all), 0 when the Wii Remote is rotating fast.

Yaw/Roll/Pitch fast/slow bits are 1 when the Wii Remote is rotating slowly (or not rotating at all), 0 when the Wii Remote is rotating fast.