Need help with gyro control logic - Greatly Appreciate any assistance

Hi guys.

I write a lot of code related to drones and making them do things like mine, dock, and stuff.. like that.
I'm having trouble with some simple... kind of simple logic that keeps tripping me up.

Here's the situation. I control the navigation of my drones by overriding the gyros and thruster's manually using code rather then using the good-Ai system.
The problem with the way I'm controlling the gyros is when a gyro is placed on grid facing a direction not matching my control block,...

Need help with gyro control logic - Greatly Appreciate any assistance