Gyro Temperature Compensation

Is anybody out there using the temperature output on the gyro to adjust the gain real time?

We started having problems late into the elimination rounds at the last regional where the gyro drift seemed to be a lot higher. We use the gyro both in autonomous and during teleop. Our working theory is that the sensor was heating up significantly during the later elimination rounds when there wasn’t as much time between matches - and the temperature caused the output to drift a lot more.

Have any other teams observed this problem or made use of the temperature reading to adjust the gain?

Thanks for the help!

We observe the effect, but don’t really do much about it (other than to recalibrate as part of the robot boot cycle). We can live with the drift.