Now in the controller application, there is no possibility to set a hardware zero on angular velocity or magnetometer. The procedure of correct setting generation is not described in the official documentation. Attempts to hack the process seemed destructive (it is possible that the wrong hardware zero setting may also damage the magnetometer). WitMotion Shenzhen Co.,Ltd did not reply to any request to describe the procedure of the bias setting.

@rlabs-oss added example control application for WT31N

Validation status

• Data acquisition: ✔️
• Calibration: ✔️
• Baudrate change: ✔️
• Polling interval change: ✔️
• Biases setup: ✔️ - hacked for Acceleration bias setup, Angular velocities and Magnetic field biases are WIP

Conclusion

Witmotion's vendor documentation seems non-plausible. Waiting for confirmation from the vendor

The library needs to be ready for being used as the subdirectory/submodule of the existing project. The contribution to implementing this ability will be strongly encouraged.

The library needs to be ready for installation, or, the best, for being packaged into Debian package. The contribution to creating this script will be strongly encouraged.