IMU Calibration Guide
Calibrate your IMU module before first use for the best attitude accuracy. Based on the official
imu_calibration_tool.pyfromIMU_Library.
Calibration Types
| Type | Description | When |
|---|---|---|
Full calibration (imu) | Accelerometer + gyroscope + magnetometer | First install, after changing mounting position |
Magnetometer (mag) | Eliminate ambient magnetic interference | After moving near motors / metal |
Temperature (temp) | Compensate thermal drift | Large temperature variations |
Preparation
- Clone the official repository:
git clone https://github.com/Juxi-Technology/ICM42670P-High-Precision-IMU-Module.git
cd ICM42670P-High-Precision-IMU-ModuleVerify IMU connection to your host (serial or I2C)
Calibration pose: place IMU flat and stationary, away from strong magnetic sources (motors, magnets, metal fixtures)
Serial Communication
cd ~/IMU_Library/IMU_Library
# Run all calibrations (full, magnetometer, temperature)
python3 imu_calibration_tool.py --mode serial --port /dev/imu-serial
# Full calibration only
python3 imu_calibration_tool.py --mode serial --port /dev/imu-serial --calibrate imu
# Magnetometer only
python3 imu_calibration_tool.py --mode serial --port /dev/imu-serial --calibrate mag
# Temperature only
python3 imu_calibration_tool.py --mode serial --port /dev/imu-serial --calibrate tempI2C Communication
# Run all calibrations
python3 imu_calibration_tool.py --mode i2c --port 1
# Full calibration only
python3 imu_calibration_tool.py --mode i2c --port 1 --calibrate imu
# Magnetometer only
python3 imu_calibration_tool.py --mode i2c --port 1 --calibrate mag
# Temperature only
python3 imu_calibration_tool.py --mode i2c --port 1 --calibrate temp
--port: I2C bus number for I2C mode (e.g., 1 on Raspberry Pi/STM32); device path for serial mode (e.g.,/dev/ttyUSB0,/dev/imu-serial).
Calibration Tips
| Tip | Description |
|---|---|
| Magnetometer | Slowly rotate IMU horizontally (figure-8 or circles), covering all orientations |
| Stationary | IMU must be completely still during full calibration |
| No magnets | Keep away from motors, transformers, metal tables |
| Multi-axis | Magnetometer calibration must cover rotation on all three axes |
FAQ
Q: Attitude still drifts after calibration?
A: Verify full calibration (imu) was executed; check the IMU is firmly mounted (vibration adds noise); add temperature calibration for large thermal changes.
Q: Magnetometer calibration fails?
A: Strong magnetic interference in the environment; verify the --calibrate mag flag; ensure full-orientation rotation during calibration.
Q: What value for --port in I2C mode?
A: Your host's I2C bus number. Default 1 on Raspberry Pi; check STM32's hardware I2C mapping; verify with i2cdetect -l.
Related Links
Support
- 📧 Email: support@juxitech.com
- 🌐 Website: www.juxitech.com