Drift support (#926)

* upgrading drift support

* updated showports

* typos

libs/gyro-sensor/docs/reference/sensors/gyro/compute-drift.md

@@ -0,0 +1,37 @@
+# compute Drift
+
+Called when the sensor is completely still, computes the current rate drift
+```sig
+sensors.gyro2.computeDrift()
+```
+
+The gyroscope sensor is subject to rate drifting. This means that the measurement reported by the sensor is off by a few degrees per second over time: it is drifting.
+
+To counter the effect of drifting, call the ``||sensors:compute drift||`` block when the sensor is still to compute the current drift. The rate meansurements will automatically be corrected based on that drift.
+
+## Example
+
+This example uses a gyro sensor to 
+
+```blocks
+let error = 0
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.White) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+pause(1000)
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.Blue) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+```
+
+## See Also
+
+[rate](/reference/sensors/gyro/rate),
+[compute drift](/reference/sensors/gyro/compute-drift)
+

libs/gyro-sensor/docs/reference/sensors/gyro/drift.md

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+# drift
+
+Get the computed rate drift
+
+```sig
+sensors.gyro2.drift()
+```
+
+The gyroscope sensor is subject to rate drifting. This means that the measurement reported by the sensor is off by a few degrees per second over time: it is drifting.
+
+To counter the effect of drifting, call the ``||sensors:compute drift||`` block when the sensor is still to compute the current drift. The rate meansurements will automatically be corrected based on that drift.
+
+## Example
+
+This example uses a gyro sensor to drive straight until while color is detected.
+The robot is stopped, the drift is computed and another movement is done.
+
+```blocks
+let error = 0
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.White) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+pause(1000)
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.Blue) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+```
+
+## See Also
+
+[rate](/reference/sensors/gyro/rate),
+[compute drift](/reference/sensors/gyro/compute-drift)
+