MPU9150 - understanding acceleration offset

@margarita wrote:

I'm using the mpu9150, my main goal is to calculate the displacement of my system in cm.
I am using double integration of the acceleration data i'm getting from the DMP.
Im aware of the accumulative noise that will drift my result very fast. for my needs, I need to calculate displacement in intervals of ~20 seconds, so hopefully I'll be able to get result accurate enough.

From my experiments, when I measure the output of a still system,
I'm getting different offset values (expecting 0 on all axis after removing gravity).

My question - is there a model for this offsets/error? does the offset of each axes depend on the orientation of the system? what could be the best way to reduce this offset and get the real accelerations?

Thank you

Hi I am using MPU9150.
I would like to it too. But the my Print Linear Acceleration is not working.
What code are you using? Is there any pre-compiled example for ARM or MSP430 gave by Invensense?

Tks