It looks at first glance at this test that simply allowing some settling time would significantly reduce the level of sensor drift. X and Y aren’t 0 due to some very small angle of tilt during the test; what’s looking promising though is that throughout several similar tests, the Z axis measure of g always stabilizes significantly around 10s. I don’t know whether that’s related to temperature, but I plotted it just in case.
So for indoor flights where the temperature environment is stable, the fix may well be to just allow more time for the temperature and sensors to settle down.
Clearly for outdoor flights mid-winter with cold winds, the sensors are going to need to be wrapped up nice and cosy warm in their own onesie.