You guys should try the GY401 gyro from Futaba. It is easy to interface, has adjustments for gain and delay and is far more precise than anything any of us can build. It is a bit $$$$ at $130 but is well worth the money. I have owned several and OMG they are a dream come true when it comes to gyros.
Its a military/space worthy device in my opinion.
Also, I didnt see it mentioned anywhere but if you are using gyros you need to place them ON AXIS with the wheels. Gyros sense rotation around an axis and to work properly it needs to be on axis. Accelerometers on the other hand do need to be off axis, in fact they work better off axis as their velocity increases the further away it is, but not too far.
If you guys are using accelerometers try moving them away from and toward axis until you find the "sweet" spot.