https://de.mathworks.com/help/rtw/beagleboneblue/ref/calibrategyro.html
calibrateGyro - Calibrate gyroscope located inside MPU-9250 sensor - MATLAB
This MATLAB function calibrates the three-axis gyroscope located inside the MPU-9250 sensor on the BeagleBone Blue hardware, represented as bblue.
calibrategyroscopelocatedinsidempu