Hi,
Thanks for your inquiry.
Please refer to https://forum.arduino.cc/t/how-to-calibrate-an-accelerometer/961066/6 about how to do accelerometer calibration at 6 positions stationary. The 6 positions mean Xup, Xdown, Yup, Ydown, Zup and Zdown. Please note that X/Y/Z are your board or your device body axes, not BMI270 accel x/y/z axes. However, you can choose BMI270 x/y/z to be aligned to body X/Y/Z to make it easier.
After you perform accel calibration at 6 positions, you will get total 12 calibration parameters: 3x3 scale factor matrix and 3 offsets. Then you can apply these parameters to all future BMI270 accel data so that when you put your board or your device on a leveled surface, no matter if Z axis is facing up or facing down, you should always get Ax, Ay close to 0g and Az close to +1g when facing up or -1g when facing down. If you use BMI270 accel +/-2g full scale range, then +1g corresponds to 16384 counts or LSBs.
Thanks.
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