Abstract: The pulse torque rebalancing feedback applied to a gyro, or other inertial sensor, is selected to be a low current for low angular rates (or other outputs) and is selected to be a high current, such as eight times greater than the low current, for high angular rates. Digital integration in an up/down counter is similarly controlled by a low frequency clock for low angular rates and a high frequency clock (which is eight times greater) for high angular rates. Mode switching includes hysteresis and time delay. The sensor outputs are compared against a ramp, the first half of the ramp being negative and the second half being positive, early in the first half being high rates and late in the second half being high rates; high and low outputs are sensed by comparing against strobe signals, a high rate strobe appearing very late in the cycle, and a low rate strobe appearing near the center of the cycle; rates sensed within either strobe causes the mode to shift (from high to low or vice versa).