Susan

Dear luisrodenas, May I know what is the motivation for the division by 8 and 4 in the calibration function? ax_offset=-mean_ax/8; ay_offset=-mean_ay/8; az_offset=(16384-mean_az)/8; gx_offset=-mean_gx/4; gy_offset=-mean_gy/4; gz_offset=-mean_gz/4; Moreover in calibration function, unlike accelerometer offset value why the (gyro offset - mean gyro value) is divided by 2 instead of 1 which is giro_deadzone? if (abs(mean_gx)<=giro_deadzone) ready++; else gx_offset=gx_offset-mean_gx/(giro_deadzone+1); if (abs(mean_gy)<=giro_deadzone) ready++; else gy_offset=gy_offset-mean_gy/(giro_deadzone+1); if (abs(mean_gz)<=giro_deadzone) ready++; else gz_offset=gz_offset-mean_gz/(giro_deadzone+1); I would be really thankful if I get the reasons for using different divisor value. Thank you.

Dear luisrodenas, May I know what is the motivation for the division by 8 and 4 in the calibration function? ax_offset=-mean_ax/8; ay_offset=-mean_ay/8; az_offset=(16384-mean_az)/8; gx_offset=-mean_gx/4; gy_offset=-mean_gy/4; gz_offset=-mean_gz/4; Moreover in calibration function, unlike accelerometer offset value why the (gyro offset - mean gyro value) is divided by 2 instead of 1 which is giro_deadzone? if (abs(mean_gx)<=giro_deadzone) ready++; else gx_offset=gx_offset-mean_gx/(giro_deadzone+1); if (abs(mean_gy)<=giro_deadzone) ready++; else gy_offset=gy_offset-mean_gy/(giro_deadzone+1); if (abs(mean_gz)<=giro_deadzone) ready++; else gz_offset=gz_offset-mean_gz/(giro_deadzone+1); I would be really thankful if I get the reasons of using different divisor value. Thank you.