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For IMU 6050, one could use the accelerometer to calibrate for the drift in x and y rotational axis by applying a complementary filter. However, I haven't found a way to calibrate for the drift in z direction. Because, if it's drifting, eventually there appeared where the axis of x and y switched, and the program started to fail.

How to calibrate the drift around z axis?

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The accelerometer doesn't see changes in gravity when you rotate around the vertical z-axis. You would need a compass (magnetometer) for that; that does see changes in heading/yaw. The IMU6050 doesn't have a magnetometer built in, unfortunately, so it can't compensate for gyro drift around the z-axis on its own.

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