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  1. Not an answer, but my experience: If you use MPU6050's DMP, you dont have to care for temperature calibration. I have been checking MPU6050 vs a Microstrain 3DM-GX2, and it seems so. If not using DMP you have to compensate temperature, it is critical if you are using it in something like a quadrotor or airplane, etc. What I did is to leave the MPU6050 still reading values and temperature changing, then I obtain a linear (or cuadratic, don't remember) offset depending on temperature, and every time I read the sensor I also check temperature and compensate it. Without changing temperature or air movement, I noticed it takes like 10 or 15 minutes to stabilize.
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