Romain JL. FETICK

Thanks for your comment @edgar-bonet , however it seems that @tockn didn't update his library for several months :( I forked the Tockn's library and took your comment into account...

Hello, Yes it is possible to make data fusion from GPS and IMU, you just have to write correctly the corresponding equations in the matricial form. Sorry for the delay...

Dear drbrodie, Are the angular values diverging? It could be a memory overflow. Clean calibration might be needed to avoid gyroscopic drift, but I am not completely sure this is...

Hello and thank you for reporting the issue. Did you try to use the same MPU and another micro-controller? Or similarly did you try with the same micro-controller but another...

On my side I tried the code with an Arduino Uno and Nano, maybe there is a compatibility issue with ESP32. The error I may think about in the `calcGyroOffsets(...

Thanks for the trick of calling `begin` twice. I am working on it even though I will have difficulties to find the bug since my Arduino does not reproduce the...

The library seems to have issues with ESP. Did you try with the Github [jrowberg](https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050) or [tockn](https://github.com/Tockn/MPU6050_tockn) libraries? Since my library is based on the Tockn's one, you might get...

Some hints are discussed in [this issue](https://github.com/tockn/MPU6050_tockn/issues/3) of the Tockn library

Hello augustosc, Thanks for this comment, it is very interesting for debugging this issue. Maybe the call sequence in the `MPU6050.begin( )` function of the library is wrong. Could you...

Thanks for these great tests. I will implement you point number 4 and check it on my own hardware. Kind regards, Romain