MPU-6050 Calibration with Arduino

Taking the steps below, you can calibrate your MPU-6050.

Step 1

Wire your MPU-6050 module to an Arduino as shown in the wiring diagram as below.

Step 2

Run the sketch.

Note. I've used Clion + PlatformIO as IDE. But using the official Arduino IDE would be ok as well. Just be sure to install this and this library before compiling and uploading the sketch to the Arduino.

Step 3

After uploading the sketch, You should see output like this:

05:37:42.518 -> Send any character to start calibrating...
05:37:44.017 -> 
05:37:44.017 -> calibrating...
05:37:48.212 -> 			ax	ay	az	gx	gy	gz
05:37:48.212 -> 			------------------------------------------------
05:37:48.212 -> average values:		26661	-10291	6367	-292	64	-445
05:37:48.245 -> calibration offsets:	0	0	0	0	0	0
05:37:48.245 -> 
05:37:48.245 -> calibrating...
05:37:52.439 -> 			ax	ay	az	gx	gy	gz
05:37:52.439 -> 			------------------------------------------------
05:37:52.439 -> average values:		-824	2088	17162	95	-18	146
05:37:52.472 -> calibration offsets:	-3332	1286	1252	97	-21	148
05:37:52.472 -> 
05:37:52.472 -> calibrating...
05:37:56.665 -> 			ax	ay	az	gx	gy	gz
05:37:56.665 -> 			------------------------------------------------
05:37:56.726 -> average values:		13	-430	16316	-27	4	-45
05:37:56.726 -> calibration offsets:	-3229	1025	1155	66	-15	100
05:37:56.726 -> 
05:37:56.726 -> calibrating...
05:38:00.894 -> 			ax	ay	az	gx	gy	gz
05:38:00.894 -> 			------------------------------------------------
05:38:00.927 -> average values:		16	86	16387	7	1	14
05:38:00.927 -> calibration offsets:	-3230	1078	1163	75	-16	115
05:38:00.927 -> 
05:38:00.927 -> calibrating...
05:38:05.121 -> 			ax	ay	az	gx	gy	gz
05:38:05.154 -> 			------------------------------------------------
05:38:05.154 -> average values:		-2	-8	16387	-1	1	-1
05:38:05.154 -> calibration offsets:	-3232	1068	1163	73	-16	111
05:38:05.187 -> 
05:38:05.187 -> MPU-6050 is calibrated.
05:38:05.187 -> 
05:38:05.187 -> Use these calibration offsets in your code:
05:38:05.187 -> motionTrackingDevice.setXAccelOffset(-3232);
05:38:05.187 -> motionTrackingDevice.setYAccelOffset(1068);
05:38:05.220 -> motionTrackingDevice.setZAccelOffset(1163);
05:38:05.220 -> motionTrackingDevice.setXGyroOffset(73);
05:38:05.253 -> motionTrackingDevice.setYGyroOffset(-16);
05:38:05.253 -> motionTrackingDevice.setZGyroOffset(111);

The sketch should give you calibration offsets in less than a minute. Use those calibration offsets in your main code.