Lesson-5.markdown

@@ -125,7 +125,7 @@ In order to investigate the properties of the gyro sensor, it was mounted on the
 
 ![Raw output from gyro sensor during testing.](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson5/Images/GyroData.png)
 
-The data shows, that the offset for this sensor is around 600. Furthermore, it can be seen from the data, that the supplied gyro sensor only senses changes in one axis. This can be seen by the three spikes starting just before T = 8. These spikes corresponds the three movements, for a single axis.
+The data shows, that the offset for this sensor is around 600. Furthermore, it can be seen from the data, that the supplied gyro sensor only senses changes to angular velocity in one axis. This can be seen by the three spikes starting just before T = 8. These spikes corresponds the three movements, for a single axis.
 
 ## Conclusion
 
@@ -133,8 +133,11 @@ The data shows, that the offset for this sensor is around 600. Furthermore, it c
 ## References
 
 [1] http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson5.dir/Lesson.html
+
 [2] https://gitlab.au.dk/rene2014/lego/tree/master/Lesson5/Programs/SegwayOnTheFlyNXT
+
 [3] http://www.nxtprograms.com/NXT2/segway/index.html
+
 [4] http://www.hitechnic.com/blog/gyro-sensor/htway/
 
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