No.... you need to allow for the error unfortunately, it is a common and well known issue.
It seems most apparent at the end of a flight from a cold start. In my experience i had a greater error when running with a cold imu calibration (placing the phantom in the fridge immediately before calibrating). It seemed that recalibrating closer to average flying temps went a long way to resolving the issue.
If i am flying where altitude is likley to be critical i do it after flying a full battery first and find less error.