Gyroscope raw data integration?


Could you help me to get usable data from my L3GD20H?
I was trying plenty of configurations and now i have something like this:

gyro_x_angle += (gyro_raw_x - gyro_zero) * GAIN * dt;

where GAIN is 0.0175 for 500 dps, and dt is time measured from start to the end of the loop.
And still values is really, really odd and much different from accelerometer data which seems to be almost perfect.
They are much bigger than it should.
Im guessing that i did something wrong in the time integration process.


Can you post a sample of your raw output, along with the most simple and minimal version of your code that demonstrates the issue?