Calibration

[nices0325]

hello tkj electronics. Well read your good library, it really helped me understand what the kalman filter is.
Anyway, I wanna know how to calibrate mpu6050 accel,gyro offsets using kalman filter. In other IMU like DMP or MAHONY filter, It has a way to calibrate the offsets(accel,gyro). I have no idea how to add calibration code to your example... If you don't mind , Could you let me know the way to calibrate or related links?? Thanks a a lot!

ps.

double accX, accY, accZ;
double gyroX, gyroY, gyroZ;

Would it be proper to use this variables with my own accel&gyro offsets with using my calibration codes?? thank you

[NilotpalMaitra]

Some MPU6050 libraries (e.g., MPU6050_tockn) have built-in calibration functions like calcGyroOffsets that collect readings during stillness and calculate offsets.