It might be easier to just define the macro to scale the gyro here instead of defining setting sensitivity and signs to 1 everywhere:
```
#define ImuScaleGyro(_imu) {					\
    _imu.gyro.p = (_imu.gyro_unscaled.p -_imu.gyro_neutral.p); \
    _imu.gyro.q = (_imu.gyro_unscaled.q - _imu.gyro_neutral.q); \
    _imu.gyro.r = (_imu.gyro_unscaled.r - _imu.gyro_neutral.r); \
  }
```
The same goes for accel (and maybe for the mag as well).