Acceleration offsets ?

[EwaldJa]

Hi !
First of all, thank you very much for your work ! Your library works very well, I am currently working on a project for my education, and I am glad that I have found your library.
However, I have played a bit with my MPU6050, and have found that it had an error in measuring gravity. While holding my sensor perfectly still and horizontal the gravity value read is a little less than 16000 on Z-axis (so a little less than 1g with default scale), and a little more than 250 on X-axis and 400 for Y-axis. After looking through your library, I did not find any code that would correct these error.
Have I missed a part where you set acceleration offsets ?

Best regards,

Ewald

[gabriel-milan]

Hi there, thank you for getting in touch.

Somewhere in the past, we would have many problems with the calibration method that was implemented for this library (for example #9). I have decided to change it for release 0.5.0 and at that time I've removed calibration for accelerometer since I wasn't able to find a reliable way of doing that.

I'm aware that the "offsets method" for the gyro isn't the best we can come up with, but it's fast to implement and test. Calibration methods for both accel and gyro are very welcome, I've honestly forgotten to work on it.