Dear Kris,

thank you for sharing your fantastic libraries and documentation! : )

I 'm using a ESP32 DevKit Combo Board with a InvenSense MPU9250.
I could upload your script and it seems that everything is running fine.

But i suppose the Calibration is not working properly.
I would like to have the value 0 for all angles (roll, pitch, yaw) after the calibration.
Do you have any idea, how i could handle that?

Thank you and sorry for my bad English ; )
Thomas

Scanning...
I2C device found at address 0x0C !
I2C device found at address 0x68 !
done

MPU9250 9-axis motion sensor...
MPU9250 I AM 73 I should be 71
MPU9250 is online...
x-axis self test: acceleration trim within : 0.3% of factory value
y-axis self test: acceleration trim within : -3.4% of factory value
z-axis self test: acceleration trim within : -0.1% of factory value
x-axis self test: gyration trim within : -4.0% of factory value
y-axis self test: gyration trim within : -1.1% of factory value
z-axis self test: gyration trim within : 0.5% of factory value
Calibrate gyro and accel
accel biases (mg)
976.38
-273.19
-974.18
gyro biases (dps)
-1.16
1.56
1.89
MPU9250 initialized for active data mode....
AK8963 I AM 48 I should be 48
AK8963 initialized for active data mode....
Mag Calibration: Wave device in a figure eight until done!
Mag Calibration done!
AK8963 mag biases (mG)
101.82
-300.11
-158.42
AK8963 mag scale (mG)
1.10
0.90
1.02
X-Axis sensitivity adjustment value 1.19
Y-Axis sensitivity adjustment value 1.19
Z-Axis sensitivity adjustment value 1.15
MS5637 pressure sensor reset...
PROM dta read:
C0 = 14080
C1 = 14080
C2 = 14080
C3 = 14080
C4 = 14080
C5 = 14080
C6 = 14080
Checksum = 13 , should be 3

Yaw: 5.50 Pitch: 0.00 Roll: 0.00

Yaw: 39.92 Pitch: 62.81 Roll: -63.46

Yaw: 38.67 Pitch: 63.06 Roll: -64.81

Yaw: 37.43 Pitch: 63.28 Roll: -66.12