This paper reports a fully differential frequency modulated (FM) gyroscope where the superposed clockwise (CW) and counter clockwise (CCW) modes are independently controlled on a single resonator. The CW and CCW mode detectors were developed to control both modes simultaneously on the resonator. A frequency and quality factor mismatch compensation method was developed to perfectly orthogonalize these two modes. A FM gyroscope operation with excellent linearity between applied angular rate and frequency difference was demonstrated. The temperature coefficient of scale factor was as small as -52 +/- 136 ppm/degrees C. The scale factor and bias were stable over 700 hours with the drift less than 0.062 +/- 0.100 ppm/hr and 31 +/- 121 ppm/hr, respectively.