How to get a better compensation for gyro drift using your MARG

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Dear sir,
What steps will reproduce the problem?
I recently used your MARG to test my sensor bought in Phidgets.(1056)
The drift in gyro is quite serious, even if I let the sensor stays still at the 
beginning. I tried to set the zeta at different value, but it didn't help much. 
What procedure can I take to make it works

My gyro just dun seem to have a constant drift, so is there other filter can do 
the job? i.e. kalman? attached picture is my gyro performance in fixed 
position(not moving it).
Just ignore the Magnetic field title in the pic. Coz I dun hv time to change 
it, it's gyro!

http://forum.sparkfun.com/viewtopic.php?f=14&t=22738&start=30
i read one of your posts in sparkfun, could I hv the kalman basics u posted 
before coz the link is dead.

Thanks a lot

Original issue reported on code.google.com by raymondk...@gmail.com on 8 Jan 2012 at 4:14

Attachments:

• gyroscope!.png

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I tried the AHRS too, the problem had gone, I am thinking about the effect of 
Magnetometer. How could it provide drift?

Original comment by raymondk...@gmail.com on 8 Jan 2012 at 4:58