#ifndef F_CPU
#define F_CPU 16000000UL
#endif

#include <avr/io.h>
#include <util/delay.h>
int main(void){
  DDRB|=(1<<PB5);
  float yaw=0; const float dt=0.01f;
  volatile int16_t gz=0;                  // сырое гиро (LSB)
  for(;;){
    float w=gz/131.0f;                     // ±250°/с -> 131 LSB/(°/с)
    yaw += w*dt; if(yaw>360)yaw-=360; if(yaw<0)yaw+=360;
    if(yaw>180) PORTB|=(1<<PB5); else PORTB&=~(1<<PB5);
    _delay_ms(10);
  }
}