vbshightime
commented
5 years ago Yes, you are correct, The 2000 degree/sec is the full-scale resolution of the device to get the exact value of the axis of rotation you need to divide your raw values with the scale factor defined in the following datasheet in Gyroscope sensitivity column. This is the (sensitivity/scale) factor. If you have chosen 2000 deg/sec then you need to divide it by 14.375 LSB/(º/s) to get the exact value.
I think your x, y, and z values need to be divided by a GYRO_SENSITIVITY = 14.375 LSB per °/s. Other drivers for this device all seem to use this and it's mentioned in the docs; as best I can tell that's all that separates your current state from outputting values in actual degrees.
Though I'm just learning about all this so I may be misunderstanding something. :-)