I recently got an MPU6050 and I noticed the accelerometer data was a bit off, especially on the Z axis.
I'm running it on a Teensy 4.0 with Adafruit's MPU6050 library and basic example code: https://github.com/adafruit/Adafruit_MPU6050/blob/master/examples/basic_readings/basic_readings.ino
While stable on a flat surface (+Z up), it's reading ~8.5 m/s^2 and when flipped over (-Z up), ~11.6 m/s^2:
+Z: Acceleration X: -0.06, Y: 0.00, Z: 8.44 m/s^2 -Z: Acceleration X: -0.01, Y: -0.07, Z: -11.57 m/s^2
Aligning the other axes vertically gives me:
+X: Acceleration X: 10.16, Y: -0.16, Z: -0.03 m/s^2 -X: Acceleration X: -9.27, Y: -0.10, Z: -0.18 m/s^2 +Y: Acceleration X: 0.07, Y: 9.55, Z: -0.10 m/s^2 -Y: Acceleration X: 0.04, Y: -9.93, Z: -0.05 m/s^2
The X and Y readings could be adjusted fairly close to 9.81 m/s^2 with just an offset, but it seems like the Z axis would also require some scaling.
My question, is there a standard method of calibrating it in code?