Gyro temperature referecnce frame fix

In reference to #632, here is a quick fix to the gyro calibration frame. The temperature shifts need to be applied in the sensor frame or else they are invalidated by any rotations. This defeats the point of the temperature compensation.

NOTE: This has not been tested. @peabody124 mentioned that he thought there might have been a subtlety that he would like to look at first, so this PR highlights the likely spots where the temp. compensation would be corrected.