Although I’m using a digital gyroscope, accelerometer and thermometer combined for SkySpy, in rummaging around on the internet looking at other accelerometers I found this fantastic guide on accelerometer calibration and orientation detection. Although published by Analogue Devices for their ADXL335, everything is just as applicable for my choice – the InvenSense MPU-6050. While non of it is rocket science, it’s great to find it written down by experts, rather than second-guess by noobs (me!). Some of it even matches post-it notes and code I’ve spent many an hour thinking about! My advice, save your brain power and use this version!