mpu6000 gyro/accel

can anyone tell me how to fix Offset and drift? What are the reasons for this? I read the temperature is one of the factors ... I know how to reach the temperature of the device but I do not know how it affects and how combine this code.

please help :blush:

The offset and drift are part of the sensor. You can use a filter to combine the accelerator and gyro values.

Kalman Guide :

thank you very much for this link, it was very helpful

For accurate results you need to fix the accelerometer offsets, which a filter will not do. I use one of these procedures, which are designed for magnetometers but work just as well for accelerometers, provided that the sensor is held still while data points are taken. or better Sailboat Instruments: Improved magnetometer calibration (Part 1)