ImuCalibration.m

function [Ta, Ka, Ba, Tg, Kg, Bg, fix_point] = ImuCalibration(data)
    % input data raw IMU data from mpu9250
    % data :time accelerometer  gyroscope   magnetometer
    %  cal_acc=Ta*Ka*(raw_acc+Ba)
    %  cal_gyro=Tg*Kg*(raw_gyro+Bg)
    %  cal_mag=Tm2a*(raw_mag+Bm)
    %

    % for caldata.dat 30
    [fix_point, rotation] = FindFixData(data, 0.1);

    [Ta, Ka, Ba] = AccCalibration(fix_point);

    Bg = -mean(fix_point(:, 4:6), 1)';

    n = size(rotation, 1);

    rotation{n + 1} = Ta;
    rotation{n + 2} = Ka;
    rotation{n + 3} = Ba;
    rotation{n + 4} = Bg;

    [Tg, Kg] = GyroCalibration(rotation);

    %[Tm2a,Bm,Vm]=mag2acc_matrix(fix_point,Ta,Ka,Ba);

    %[Tm2a,Bm,Vm,mag_strength]=Cal_mag4acc_frame(rotation,fix_point,Tg,Kg);

    %See_Gesture( data,Ta,Ka,Ba,Tg,Kg,Bg,Tm2a,Bm,Vm);

end