"i'm also using Yury Petrov's Ellipsoid_fit as my magnetometer calibration procedure.
i collect 1000 raw values, and then launch the script.
then i use this formula to get calibrated values, and my magnetometer is calibrated
xt_raw = x_raw - offsetx;…"
i've a problem with a gyro bias.i'm using mpu6050 and read data of accell and gyro, attitude estimation is done using mahony accel + gyro alghoritm.
for testing purpose i've built a processing gui, which consist of a rotating cube.