When an Analog Gyro Source is interfaced to the ART-2000 or ART-21000 for stabilization, there is a parameter on the CM-2000 programming for Analog Gyro Compensation.

The reference voltage for some analog gyros decreases in operation. The decreased voltage is more noticeable under heavier loads. When the voltage decreases, the pitch and roll gain values are too high. The "Compensate for Ref Drop" option should be selected to set the gain values in ratio of the initial reference voltage to the current reference voltage. This will monitor the 400Hz Ref and as loads are added that cause ref voltage to drop it compensates.

In almost all cases, the "compensate for ref drop" should be and can be selected in case of a voltage drop from the gyro.