James Watanabe
Forked from Aaron Berk's ITG3200 driver class library, customized for my specific application using 9DoF-Stick by Sparkfun.
Fork of
ITG3200
by 
Aaron Berk
Thermal Drift
ITG3200 has thermal drift on each axes. It can be a problem if you're going to integrate the outputs to obtain rotation.
The library can correct the drift in two ways: Single Point Correction and Calibration Curve. You can select the methods by specifying Correction enumeration as a parameter for getGyroXYZ(), getGyroXYZDegrees() or getGyroXYZRadians().
The calibration curve for my specific device is presented in the Excel sheet below.
/media/uploads/gltest26/itg3200cal.xls
As you can see, the correlation between drift and temperature looks pretty linear, at least in my specific device.
You can create calibration curves for your own device by calling calibrate(), getTemperature() and getOffset() in succession with various ambient temperature.