The gyro effect is pretty predictable. Anything where you're pretty confident in your model, it's better to compensate in the feedforward part of the controller

The gyro effect is pretty predictable. Anything where you're pretty confident in your model, it's better to compensate in the feedforward part of the controller than to push it into the feedback part. Think about gravity compensation - adding a constant amount of thrust to cancel out your weight. It's not going to match the model perfectly due to error in your attitude estimate, but it's still better than treating gravity force as an unmodeled disturbance. Gyro compensation is similar.