Bottom of [this page](https://docs.wpilib.org/en/latest/docs/software/wpilib-tools/robot-simulation/drivesim-tutorial/simulation-instance.html) in "Simulating Gyroscopes" section. <img width="836" height="406" alt="Image" src="https://github.com/user-attachments/assets/56598086-d040-44b6-bfe6-bfe6c0bae514" />
Bottom of this page in "Simulating Gyroscopes" section.