Approaches for temperature compensation when using DMP

Hi,

I'm managing to get excellent bias/accel calibration results which give me very low yaw drift out of DMP. I'm now at the point where temperature effects are apparent. I would classify this issue into two; 'warmup' and temp fluctuation.

Warm-up isn't a problem - our application monitors the temps and does not perform bias calculations until the device has warmed up. But in-use fluctuations in temp I need to deal with.

The MPL binary libs have temperature gyro compensations functions but these are propitiatory / closed source. So Invensense must be doing something special / undocumented / secret ?

Are there any pointers on the best way to approach this ? Should I target the base accel/gyro bias values and adjust them as temps fluctuate ? Or is it enough to compensate the DMP yaw output value and try and apply a temperature adjusted drift compensation value to that?

Also mpu_set_accel_bias_6050_reg in the 5..21 MotionDriver libs bit 0 of accel bias must be preserved for temp compensation but I can find no other info. The 5.1.2 libs also don't appear to do this correctly - something fixed in 6.1.

Rob