I am using i2cdev library

Code:(i did not know this code is correct or not)

#include <Arduino.h>
#include <MPU6050.h>
#include <kalman.h>
#include <stdint.h>

#define ACCELLSB  2048
#define GYROLSB   16.4

#define CONSOLE
#define CALIBRATE

#ifdef  CALIBRATE
int16_t Accel_X_offset;
int16_t Accel_Y_offset;
int16_t Accel_Z_offset;

int16_t Gyro_X_offset;
int16_t Gyro_Y_offset;
int16_t Gyro_Z_offset;
#endif

MPU6050 mpu6050;

Kalman  AngleX;
Kalman  AngleY;


void setup()
{
   mpu6050.initialize();
   mpu6050.setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
   mpu6050.setFullScaleGyroRange(MPU6050_GYRO_FS_2000);

   #ifdef CALIBRATE
   mpu6050.CalibrateAccel();
   mpu6050.CalibrateGyro();

   Accel_X_offset = mpu6050.getXAccelOffset();
   Accel_Y_offset = mpu6050.getYAccelOffset();
   Accel_Z_offset = mpu6050.getZAccelOffset();

   Gyro_X_offset  = mpu6050.getXGyroOffset();
   Gyro_Y_offset  = mpu6050.getYGyroOffset();
   Gyro_Z_offset  = mpu6050.getZGyroOffset();
   #endif

   int16_t AccelX, AccelY, AccelZ;
   int16_t GyroX, GyroY, GyroZ;

   mpu6050.getMotion6(&AccelX,&AccelY,&AccelZ,&GyroX,&GyroY,&GyroZ);

   // I am going to use this values in kalman filter
   #ifdef CALIBRATE
   AccelX -= Accel_X_offset;
   AccelY -= Accel_Y_offset;
   AccelZ -= Accel_Z_offset;

   GyroX  -= Gyro_X_offset;
   GyroY  -= Gyro_Y_offset;
   GyroZ  -= Gyro_Z_offset;
   #endif
}


void loop()
{

}

What is the correct way to calibrate mpu6050(Correct me what i am wrong)?

Thanks.

I am using i2cdev library

Code:(i did not know this code is correct or not)

#include <Arduino.h>
#include <MPU6050.h>
#include <kalman.h>
#include <stdint.h>

#define ACCELLSB  2048
#define GYROLSB   16.4

#define CONSOLE
#define CALIBRATE

#ifdef  CALIBRATE
int16_t Accel_X_offset;
int16_t Accel_Y_offset;
int16_t Accel_Z_offset;

int16_t Gyro_X_offset;
int16_t Gyro_Y_offset;
int16_t Gyro_Z_offset;
#endif

MPU6050 mpu6050;

Kalman  AngleX;
Kalman  AngleY;


void setup()
{
   mpu6050.initialize();
   mpu6050.setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
   mpu6050.setFullScaleGyroRange(MPU6050_GYRO_FS_2000);

   #ifdef CALIBRATE
   mpu6050.CalibrateAccel();
   mpu6050.CalibrateGyro();

   Accel_X_offset = mpu6050.getXAccelOffset();
   Accel_Y_offset = mpu6050.getYAccelOffset();
   Accel_Z_offset = mpu6050.getZAccelOffset();

   Gyro_X_offset  = mpu6050.getXGyroOffset();
   Gyro_Y_offset  = mpu6050.getYGyroOffset();
   Gyro_Z_offset  = mpu6050.getZGyroOffset();
   #endif

   int16_t AccelX, AccelY, AccelZ;
   int16_t GyroX, GyroY, GyroZ;

   mpu6050.getMotion6(&AccelX,&AccelY,&AccelZ,&GyroX,&GyroY,&GyroZ);

   // I am going to use this values in kalman filter
   #ifdef CALIBRATE
   AccelX -= Accel_X_offset;
   AccelY -= Accel_Y_offset;
   AccelZ -= Accel_Z_offset;

   GyroX  -= Gyro_X_offset;
   GyroY  -= Gyro_Y_offset;
   GyroZ  -= Gyro_Z_offset;
   #endif
}


void loop()
{

}

What is the correct way to calibrate mpu6050(Correct me what i am wrong or this is correct)?

Thanks.