Hi, Thanks a lot for this sketch, seems like it's just what I needed for calibrating my MPU6050. It compiles fine, but then freezes in the calibration() loop. It runs through it a couple of times but then just stops in the middle of the meansensors() loop before it converges. I tested it by putting Serial.print(i); Serial.print('\t'); Serial.print(buffersize + 101); Serial.print('\n'); so that I can see where it hangs... Any ideas? I've read a little about i2c freezing sometimes? Is there a way to solve this? Perhaps an alternate library that I could use? Thanks!