Gyro fails to calibrate

[mushroomRetainer]

Using this firmware, it seems the gyro introduces a significant drift into the roll, pitch, and yaw measurements (about 1 degree/second). I found that this can be fixed by changing this section of the code:

if (ENABLE_GYRO_CALIBRATION)
{
// Gyro calibration re-calibrates the gyro after a set amount
// of no motion detected
dmpFeatureMask |= DMP_FEATURE_SEND_CAL_GYRO;
}

and replacing it with the following:

if (ENABLE_GYRO_CALIBRATION)
{
// Gyro calibration re-calibrates the gyro after a set amount
// of no motion detected
dmpFeatureMask |= DMP_FEATURE_GYRO_CAL; //added this line
dmpFeatureMask |= DMP_FEATURE_SEND_CAL_GYRO;
}

This way the gyro calibrates after 8 seconds of no movement from the accelerometer. I can't think of a situation in which you wouldn't want this feature turned on.

[santaimpersonator]

Oops, looks like we might have missed that. Thanks for the heads up.

You are correct as mention here:
https://github.com/sparkfun/9DOF_Razor_IMU/blob/master/Libraries/Arduino/src/util/inv_mpu_dmp_motion_driver.c#L1090

I have updated the firmware code in the repository to reflect this. I will update the hookup guide as well.