Mpu6000 gyro bias

Hi, all.

I'm using Mpu6000 as gyroscope for 2 axis stabilization. I run gyro at 8kHz sample rate. I want to do a gyro bias cancellation. In eMPL librery there is a routine gyro_run_self_test that should return current gyro bias. The questions are:
1. Do I need to run this routine when the system is stable (no motion)? I can use is at initiation routine, but can I use during the vibration?
2. There is no need to load motion driver for self test routine, am I right?
3. There is a routine that makes temperature compensation. This function inv_enable_gyro_tc() belongs to libmplmpu.lib as I understand. Do I need to load and enable motion driver or it is enough just to add and compile libmplmpu.lib.
4. After temperature compensation is enable, gyro values at registers 0x43-0x48 already compensated or I need to call/run another routine to do it.

Thanks in advance,
Artuom.