[dayofpain]

its like this

yaw = pitch in relation to the horizon.

g's = measurement in "gravitys" of inertia in any direction.

2 different sensors measuring different things.

a car moving faster pitches into corners at different g's and differnt yaw rate as compared to a car moving at a slower rate of speed. also changes in suspension change things differently as well. now have two "almost" redundant sensors makes things awesome as one backs up the other and so forth. the two sensors cooerlate and decide which torque split to give the wheels. these only work in "auto" mode. in any other mode both sensors are defeated. two sensors being better because well lets face it, we all know more is better right? we are americans. ;P

maybe clears things up.