MPU6050 - Add automatic runtime calibration (eg. add MotionApps dmp firmware v6.12) #493

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MrUnknownDE · 2026-04-05T17:53:05+02:00

MrUnknownDE commented

2026-04-05 17:53:05 +02:00

Originally created by @masterex1000 on 9/14/2021

Pretty much as I said in the title. I've added the MotionApps v6.12 firmware to the repo which included automatic runtime calibration. It seems to work pretty well, you just put it on the ground for ~15s (to be on the safe side) and it automatically calibrates.

You can tell when they have calibrated by the x rotation value resetting to zero in the server. Two of my five don't reset like that... but they seem to work fine? (Could just be issues with my specific mpus.)

The old firmware is still in the repo, and you can re-enable it by commenting out the IMU_MPU6050_RUNTIME_CALIBRATION macro in defines.h.

*Originally created by @masterex1000 on 9/14/2021* Pretty much as I said in the title. I've added the MotionApps v6.12 firmware to the repo which included automatic runtime calibration. It seems to work pretty well, you just put it on the ground for ~15s (to be on the safe side) and it automatically calibrates. You can tell when they have calibrated by the x rotation value resetting to zero in the server. Two of my five don't reset like that... but they *seem* to work fine? (Could just be issues with my specific mpus.) The old firmware is still in the repo, and you can re-enable it by commenting out the `IMU_MPU6050_RUNTIME_CALIBRATION` macro in `defines.h`.

MrUnknownDE closed this issue

2026-04-05 17:53:05 +02:00

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Reference: github/SlimeVR-Tracker-ESP#493