diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index a735b31b2..f01939c17 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -640,9 +640,9 @@ void adc_callback(float * downsampled_data)
 	accel[2] = (downsampled_data[4] * accel_data.calibration.scale[2]) + accel_data.calibration.bias[2];
 
 	// Gyro data is (x,y,z) in second, fifth and seventh byte.  Convert to rad/s
-	gyro[0] = (downsampled_data[1] * gyro_data.calibration.scale[0]) + gyro_data.calibration.bias[0];
-	gyro[1] = (downsampled_data[3] * gyro_data.calibration.scale[1]) + gyro_data.calibration.bias[1];
-	gyro[2] = (downsampled_data[5] * gyro_data.calibration.scale[2]) + gyro_data.calibration.bias[2];
+	gyro[0] = ( ( downsampled_data[1] + gyro_data.calibration.tempcompfactor[0] * downsampled_data[6] ) * gyro_data.calibration.scale[0]) + gyro_data.calibration.bias[0];
+	gyro[1] = ( ( downsampled_data[3] + gyro_data.calibration.tempcompfactor[1] * downsampled_data[6] ) * gyro_data.calibration.scale[1]) + gyro_data.calibration.bias[1];
+	gyro[2] = ( ( downsampled_data[5] + gyro_data.calibration.tempcompfactor[2] * downsampled_data[7] ) * gyro_data.calibration.scale[2]) + gyro_data.calibration.bias[2];
 
 #if 0
 	static float gravity_tracking[3] = {0,0,0};
@@ -856,6 +856,9 @@ void reset_values() {
 	gyro_data.calibration.variance[0] = 1;
 	gyro_data.calibration.variance[1] = 1;
 	gyro_data.calibration.variance[2] = 1;
+	gyro_data.calibration.tempcompfactor[0] = 0;
+	gyro_data.calibration.tempcompfactor[1] = 0;
+	gyro_data.calibration.tempcompfactor[2] = 0;
 	mag_data.calibration.scale[0] = 1;
 	mag_data.calibration.scale[1] = 1;
 	mag_data.calibration.scale[2] = 1;
@@ -947,6 +950,7 @@ void calibration_callback(AhrsObjHandle obj)
 			gyro_data.calibration.scale[ct] = cal.gyro_scale[ct];
 			gyro_data.calibration.bias[ct] = cal.gyro_bias[ct];
 			gyro_data.calibration.variance[ct] = cal.gyro_var[ct];
+			gyro_data.calibration.tempcompfactor[ct] = cal.gyro_tempcompfactor[ct];
 			mag_data.calibration.bias[ct] = cal.mag_bias[ct];
 			mag_data.calibration.scale[ct] = cal.mag_scale[ct];
 			mag_data.calibration.variance[ct] = cal.mag_var[ct];
diff --git a/flight/AHRS/inc/ahrs.h b/flight/AHRS/inc/ahrs.h
index 202588f75..fb1d994d8 100644
--- a/flight/AHRS/inc/ahrs.h
+++ b/flight/AHRS/inc/ahrs.h
@@ -80,6 +80,7 @@ struct gyro_sensor {
 		float bias[3];
 		float scale[3];
 		float variance[3];
+		float tempcompfactor[3];
 	} calibration;
 	struct {
 		uint16_t xy;
diff --git a/flight/OpenPilot/UAVObjects/ahrscalibration.c b/flight/OpenPilot/UAVObjects/ahrscalibration.c
index 6e46cd6e9..42edf7a0a 100644
--- a/flight/OpenPilot/UAVObjects/ahrscalibration.c
+++ b/flight/OpenPilot/UAVObjects/ahrscalibration.c
@@ -99,6 +99,9 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
 	data.gyro_var[0] = 0.0001;
 	data.gyro_var[1] = 0.0001;
 	data.gyro_var[2] = 0.0001;
+	data.gyro_tempcompfactor[0] = 0;
+	data.gyro_tempcompfactor[1] = 0;
+	data.gyro_tempcompfactor[2] = 0;
 	data.mag_bias[0] = 0;
 	data.mag_bias[1] = 0;
 	data.mag_bias[2] = 0;
diff --git a/flight/OpenPilot/UAVObjects/inc/ahrscalibration.h b/flight/OpenPilot/UAVObjects/inc/ahrscalibration.h
index ed5a105ca..933d03c7a 100644
--- a/flight/OpenPilot/UAVObjects/inc/ahrscalibration.h
+++ b/flight/OpenPilot/UAVObjects/inc/ahrscalibration.h
@@ -41,7 +41,7 @@
 #define AHRSCALIBRATION_H
 
 // Object constants
-#define AHRSCALIBRATION_OBJID 3761202980U
+#define AHRSCALIBRATION_OBJID 806362034U
 #define AHRSCALIBRATION_NAME "AHRSCalibration"
 #define AHRSCALIBRATION_METANAME "AHRSCalibrationMeta"
 #define AHRSCALIBRATION_ISSINGLEINST 1
@@ -78,6 +78,7 @@ typedef struct {
     float gyro_bias[3];
     float gyro_scale[3];
     float gyro_var[3];
+    float gyro_tempcompfactor[3];
     float mag_bias[3];
     float mag_scale[3];
     float mag_var[3];
@@ -120,6 +121,11 @@ typedef enum { AHRSCALIBRATION_GYRO_SCALE_X=0, AHRSCALIBRATION_GYRO_SCALE_Y=1, A
 typedef enum { AHRSCALIBRATION_GYRO_VAR_X=0, AHRSCALIBRATION_GYRO_VAR_Y=1, AHRSCALIBRATION_GYRO_VAR_Z=2 } AHRSCalibrationgyro_varElem;
 /* Number of elements for field gyro_var */
 #define AHRSCALIBRATION_GYRO_VAR_NUMELEM 3
+// Field gyro_tempcompfactor information
+/* Array element names for field gyro_tempcompfactor */
+typedef enum { AHRSCALIBRATION_GYRO_TEMPCOMPFACTOR_X=0, AHRSCALIBRATION_GYRO_TEMPCOMPFACTOR_Y=1, AHRSCALIBRATION_GYRO_TEMPCOMPFACTOR_Z=2 } AHRSCalibrationgyro_tempcompfactorElem;
+/* Number of elements for field gyro_tempcompfactor */
+#define AHRSCALIBRATION_GYRO_TEMPCOMPFACTOR_NUMELEM 3
 // Field mag_bias information
 /* Array element names for field mag_bias */
 typedef enum { AHRSCALIBRATION_MAG_BIAS_X=0, AHRSCALIBRATION_MAG_BIAS_Y=1, AHRSCALIBRATION_MAG_BIAS_Z=2 } AHRSCalibrationmag_biasElem;
diff --git a/ground/src/plugins/uavobjects/OPLogConvert.m b/ground/src/plugins/uavobjects/OPLogConvert.m
index f61f97c83..1070fb62d 100644
--- a/ground/src/plugins/uavobjects/OPLogConvert.m
+++ b/ground/src/plugins/uavobjects/OPLogConvert.m
@@ -44,6 +44,7 @@ function [] = OPLogConvert()
     AHRSCalibration(1).gyro_bias = zeros(1,3);
     AHRSCalibration(1).gyro_scale = zeros(1,3);
     AHRSCalibration(1).gyro_var = zeros(1,3);
+    AHRSCalibration(1).gyro_tempcompfactor = zeros(1,3);
     AHRSCalibration(1).mag_bias = zeros(1,3);
     AHRSCalibration(1).mag_scale = zeros(1,3);
     AHRSCalibration(1).mag_var = zeros(1,3);
@@ -435,7 +436,7 @@ function [] = OPLogConvert()
             case 3054509114
                 ActuatorSettings(actuatorsettingsIdx) = ReadActuatorSettingsObject(fid, timestamp);
                 actuatorsettingsIdx = actuatorsettingsIdx + 1;
-            case 3761202980
+            case 806362034
                 AHRSCalibration(ahrscalibrationIdx) = ReadAHRSCalibrationObject(fid, timestamp);
                 ahrscalibrationIdx = ahrscalibrationIdx + 1;
             case 3741078856
@@ -639,6 +640,7 @@ function [AHRSCalibration] = ReadAHRSCalibrationObject(fid, timestamp)
     AHRSCalibration.gyro_bias = double(fread(fid, 3, 'float32'));
     AHRSCalibration.gyro_scale = double(fread(fid, 3, 'float32'));
     AHRSCalibration.gyro_var = double(fread(fid, 3, 'float32'));
+    AHRSCalibration.gyro_tempcompfactor = double(fread(fid, 3, 'float32'));
     AHRSCalibration.mag_bias = double(fread(fid, 3, 'float32'));
     AHRSCalibration.mag_scale = double(fread(fid, 3, 'float32'));
     AHRSCalibration.mag_var = double(fread(fid, 3, 'float32'));
diff --git a/ground/src/plugins/uavobjects/ahrscalibration.cpp b/ground/src/plugins/uavobjects/ahrscalibration.cpp
index 6186c2abe..2a25ec75c 100644
--- a/ground/src/plugins/uavobjects/ahrscalibration.cpp
+++ b/ground/src/plugins/uavobjects/ahrscalibration.cpp
@@ -79,6 +79,11 @@ AHRSCalibration::AHRSCalibration(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTING
     gyro_varElemNames.append("Y");
     gyro_varElemNames.append("Z");
     fields.append( new UAVObjectField(QString("gyro_var"), QString("deg^s/s^2"), UAVObjectField::FLOAT32, gyro_varElemNames, QStringList()) );
+    QStringList gyro_tempcompfactorElemNames;
+    gyro_tempcompfactorElemNames.append("X");
+    gyro_tempcompfactorElemNames.append("Y");
+    gyro_tempcompfactorElemNames.append("Z");
+    fields.append( new UAVObjectField(QString("gyro_tempcompfactor"), QString("raw/raw"), UAVObjectField::FLOAT32, gyro_tempcompfactorElemNames, QStringList()) );
     QStringList mag_biasElemNames;
     mag_biasElemNames.append("X");
     mag_biasElemNames.append("Y");
@@ -154,6 +159,9 @@ void AHRSCalibration::setDefaultFieldValues()
     data.gyro_var[0] = 0.0001;
     data.gyro_var[1] = 0.0001;
     data.gyro_var[2] = 0.0001;
+    data.gyro_tempcompfactor[0] = 0;
+    data.gyro_tempcompfactor[1] = 0;
+    data.gyro_tempcompfactor[2] = 0;
     data.mag_bias[0] = 0;
     data.mag_bias[1] = 0;
     data.mag_bias[2] = 0;
diff --git a/ground/src/plugins/uavobjects/ahrscalibration.h b/ground/src/plugins/uavobjects/ahrscalibration.h
index 7c1ae93f8..e4f0bc827 100644
--- a/ground/src/plugins/uavobjects/ahrscalibration.h
+++ b/ground/src/plugins/uavobjects/ahrscalibration.h
@@ -50,6 +50,7 @@ public:
         float gyro_bias[3];
         float gyro_scale[3];
         float gyro_var[3];
+        float gyro_tempcompfactor[3];
         float mag_bias[3];
         float mag_scale[3];
         float mag_var[3];
@@ -92,6 +93,11 @@ public:
     typedef enum { GYRO_VAR_X=0, GYRO_VAR_Y=1, GYRO_VAR_Z=2 } gyro_varElem;
     /* Number of elements for field gyro_var */
     static const quint32 GYRO_VAR_NUMELEM = 3;
+    // Field gyro_tempcompfactor information
+    /* Array element names for field gyro_tempcompfactor */
+    typedef enum { GYRO_TEMPCOMPFACTOR_X=0, GYRO_TEMPCOMPFACTOR_Y=1, GYRO_TEMPCOMPFACTOR_Z=2 } gyro_tempcompfactorElem;
+    /* Number of elements for field gyro_tempcompfactor */
+    static const quint32 GYRO_TEMPCOMPFACTOR_NUMELEM = 3;
     // Field mag_bias information
     /* Array element names for field mag_bias */
     typedef enum { MAG_BIAS_X=0, MAG_BIAS_Y=1, MAG_BIAS_Z=2 } mag_biasElem;
@@ -112,7 +118,7 @@ public:
 
   
     // Constants
-    static const quint32 OBJID = 3761202980U;
+    static const quint32 OBJID = 806362034U;
     static const QString NAME;
     static const QString DESCRIPTION;
     static const bool ISSINGLEINST = 1;
diff --git a/ground/src/plugins/uavobjects/ahrscalibration.py b/ground/src/plugins/uavobjects/ahrscalibration.py
index bc92ea0f2..e2bccce4a 100644
--- a/ground/src/plugins/uavobjects/ahrscalibration.py
+++ b/ground/src/plugins/uavobjects/ahrscalibration.py
@@ -121,6 +121,18 @@ _fields = [ \
 		{
 		}
 	),
+	uavobject.UAVObjectField(
+		'gyro_tempcompfactor',
+		'f',
+		3,
+		[
+			'X',
+			'Y',
+			'Z',
+		],
+		{
+		}
+	),
 	uavobject.UAVObjectField(
 		'mag_bias',
 		'f',
@@ -182,7 +194,7 @@ _fields = [ \
 
 class AHRSCalibration(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 3761202980
+    OBJID        = 806362034
     NAME         = "AHRSCalibration"
     METANAME     = "AHRSCalibrationMeta"
     ISSINGLEINST = 1
diff --git a/ground/src/shared/uavobjectdefinition/ahrscalibration.xml b/ground/src/shared/uavobjectdefinition/ahrscalibration.xml
index e6f2af100..33da5342e 100644
--- a/ground/src/shared/uavobjectdefinition/ahrscalibration.xml
+++ b/ground/src/shared/uavobjectdefinition/ahrscalibration.xml
@@ -8,6 +8,7 @@
         <field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="23,-23,23"/>
         <field name="gyro_scale" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="-0.0140,0.014,-0.014"/>
         <field name="gyro_var" units="deg^s/s^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
+        <field name="gyro_tempcompfactor" units="raw/raw" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
         <field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
         <field name="mag_scale" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
         <field name="mag_var" units="mGau^s" type="float" elementnames="X,Y,Z" defaultvalue="5e-5"/>
@@ -18,4 +19,4 @@
         <telemetryflight acked="true" updatemode="onchange" period="0"/>
 		<logging updatemode="never" period="0"/>
     </object>
-</xml>
\ No newline at end of file
+</xml>