Gyroscope Problems

An attempted autonomous flight that was ruined by an unknown problem which caused the gyroscope (and the compass as well, since my code processes the compass through the gyroscope data) to be incorrect. It goes surprisingly well despite the problems. It was making progress and staying in the air, so it might have even finished the flight on its own assuming the battery didn't go dead first due to it senselessly turning around, but not knowing what would happen, I stopped it and flew it back manually.