3. (re: tossing out initial invalid sample). While buffered period counting will normally give you an unreliable 1st buffer value, it *won't* produce invalid measurements after the 1st one. If you are getting invalid data anywhere except the very first sample, you have a different problem. It may relate to the Duplicate Count Prevention setting, it may be noise or glitches in your signal(s), but it is *not* inherent to period measurement.
You could revisit this method after ironing out whatever is causing "invalid" readings on the 2nd or later sample.
4. The 6602 supports an encoder type called "Two Pulse Encoder" for exactly this purpose. The up and down pulses are fed into the Source and the Aux pins of a single counter, and the counter will increment and decrement accordingly. That'll let you use DMA for all 3 gyros.
-Kevin P
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