Let’s quickly look at the commonly-used terms for MEMS Gyroscopes. A gyroscope can rotate in 3 axes. There are two in-plane axes called pitch and roll – the X and Y axes. The third is an out of plane axis called yaw – the Z axis. Zero rate level refers to the analog or digital sensor output value when no angular rate is applied. Sensitivity always refers to the ratio between the output and input of the sensor.