Hi @Yansu ,
Welcome to ST Community!
The IMU is calibrated at production level, and the calibration values are stored in the reserved registers, and it is better to not modify them.
However, if you need a recalibration, for example after the soldering process, you can measure the offset on the 3 axis in a steady position and write the measured values in the registers 73h-74h-75h (X_OFS_USR,Y_OFS_USR,Z_OFS_USR)
In alternative, if you have LSM6DSV16X you can use a calibration library, for example from the X-CUBE-MEMS1 package, such as the MotionAC or MotionGC: they provide real-time data calibration through offset and scale factor coefficients used to correct accelerometer and gyroscope data.
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