rvt

To answer my own question... I can use mpu.CalibrateAccel(6); and mpu.CalibrateGyro(6); and store the values. When the device powers up I can re-load them and this works good enough for my application...

When looking at MPU6050_DMP6_using_DMP_V6.12.ino I see that you need to supply your own gyro offset. Can I use the vallues from the MPU after I run: mpu.CalibrateAccel(6); and mpu.CalibrateGyro(6);? using mpu.getXGyroOffset() ? Or should I still use IMU_Zero.ino to create the calibration routine and get the values? Ries