The problem of missing calibration routines for the FreeIMU has been bothering me for a long time.. I was aware of many approaches to the problem but simply never been able to work on it.
Thanks to the help of Andrea and Pasquale Cirillo which provided me with some calibration code based upon the “infamous” AN3192 from ST Microsystems, I’ve been able to embed everything into a nice calibration procedure for the FreeIMU library.
The results are very promising, as you should see from the video below. Code is available on the FreeIMU repository and will be published in the next version of the FreeIMU library.