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I'm trying to calibrate my MPU6050, i tried to follow the guide here: http://www.i2cdevlib.com/forums/topic/91-how-to-decide-gyro-and-accelerometer-offsett/

But the values my sensor gives me were all around:

a/g:    3980    1512    3892    -6    70    -9
a/g:    4056    1452    3884    28    51    -19
a/g:    4088    1304    3712    17    49    -14
a/g:    4068    1340    3820    7    66    14
a/g:    4044    1332    3628    40    104    -16
a/g:    4072    1336    3896    2    47    16
a/g:    4088    1332    3760    19    62    -14
a/g:    4004    1448    3728    16    48    -4
a/g:    3980    1444    3740    18    29    -1
a/g:    4112    1432    3828    7    56    14
a/g:    4092    1376    3736    8    55    -4
a/g:    3936    1528    3560    -26    122    -13

 

When i tried to add this values to my offset, the offset simple gets BIGGER.

 

I tried than using the sketch calibration by Luis Ródenas (i put on pastebin here)

It says at the end:

Sensor readings with offsets:    7    -4    16382    0    0    0
Your offsets:    -426    -165    1525    -3    -14    0

Data is printed as: acelX acelY acelZ giroX giroY giroZ
Check that your sensor readings are close to 0 0 16384 0 0 0
If calibration was succesful write down your offsets so you can set them in your projects using something similar to mpu.setXAccelOffset(youroffset)

When i add these values to my sensor it gets:

a/g:	-44	60	16252	-19	-6	-10
a/g:	68	12	16444	14	-14	6
a/g:	-132	-44	16340	-3	4	-2
a/g:	-68	80	16248	18	10	12
a/g:	-28	108	16068	-18	-7	2
a/g:	16	-80	16368	-26	14	-15
a/g:	32	76	16324	-16	4	4
a/g:	-8	60	16092	-5	2	7
a/g:	32	-40	16288	2	11	1
a/g:	-16	44	16384	14	-14	-3
a/g:	-92	32	16608	3	-18	-7
a/g:	-80	-88	16384	20	1	-9

The wide range betwen positive and negative numbers here make me worries about my sensor has any problems.

Yes it's wired corect.

I'm using the raw values to get these values, no i cant use DMP because it uses interuption and my interuption port are being used by my encoders.
So i'm being that stupid that can see the problems or theres something here?

 

 

 

 

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Can you print out the average values of your acceleration signals for, say, 5 seconds of data collection? Simply, collect 5 seconds of signals and calculate the average values of each signal separately. I'm speculating that you need to subtract the values instead of adding them! But let us know the average values and then I'll be more sure!

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