It seems that is a fairly large accelerometer and gyro turn on biases on my FRDM-FXS-MULTI2-B board, is there a factory calibration file the bias and non-orthogonality terms?
When a MEMS device is soldered to a PCB, physical stresses are introduced that can introduce offsets and biases. That's the primary reason you'll see accelerometer offset datasheet values in the tens of milli-g's. We can't predict a priori what the specific values are.
Having said that, Version 7.00 of the sensor fusion library, which should be available for K64F and K22F next month, will include features to compute these values and store them away in flash, so that cold starts will look a lot cleaner.
when in August will V7.0 be available? what kind of terms will be calibrated in V7.0? Does the board need a specific manuever?
I'm told the current target is August 5. You should view that as an estimate, not a commitment.
Details of the calibration features are contained in the user manual that I posted in this space last week.
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