I think it would be handier if the control was angle and not rate. The control would look just like the motor control that you can spin in full circles allowing an exact angle to be hit. Rate is hard to test with.
To me, the rate is OK, but it should have a higher resolution or some kind of hysteresis around 0. Now it is difficult to get the value back to 0. Optionally, there could be a selection between angle and rate.