I don’t have much experience with the latest
paparazzi DCM ahrs, but worked with the initial dcm implementation and actually
came to the same solution – measuring and modelling the rate sensors
temperature drift. But the solution is really annoying, needs lot of handwork.
Have you tried the cmpl_quat ahrs? There is also of
centrifugal force compensation implemented and from my experience (based
however on rotorcrafts basically) works well. If you are sure you don’t
have significant accelerometer drift could carefully try it.