How complicated is the calibration routine? Are expensive calibration fixtures or equipment required?

The calibration algorithms that are supported in software are No Motion Cal, whenever the Gyro detects a no motion event through the DMP, it immediately triggers a calibration process. There is also a temperature compensation of the Biases, which runs in software on the micro. These calibration routines run in real time on the hardware and micro, and does not need any external equipment.