MPU6050_Accels_Gyros Bias_Calibration

[chinablue-8701]

Problem Description

1. After successfully replicating the litewing, controlling the drone via a mobile APP revealed a severe horizontal flight offset.
2. Testing the MPU6050 output using the cfclient tool indicated significant biases in both the accelerometer and gyroscope readings.（acc.x-0mg/acc.y-20mg/acc.z-14mg , gyro.x-0.28dps/gyro.y-0.23dps/gyro.z-0.33dps）

#Methods Tried

1. Attempting to calibrate the accelerometer and gyroscope biases via the parameters in cfclient failed, as no options for calibrating these biases were found there.
2. Trying to calibrate the accelerometer and gyroscope biases using commands in the cfclient console was unsuccessful, as the commands did not execute properly.
3. Using the Roll Trim and Pitch Trim in the mobile app to calibrate the horizontal offset revealed that the minimum adjustment step of 0.6 degrees is too coarse. This calibration method cannot achieve a stable, level flight state for the drone.

#Question

1. Does the drone's firmware perform self-calibration of the MPU6050 biases during the startup self-test?
2. How can the MPU6050 biases be calibrated using cfclient?