IMUCal

IMUCal is a mobile + desktop companion app for field calibration and health-checking of inertial sensors (phone IMUs, external BLE IMUs, and embedded dev boards). It guides users through short, repeatable motion routines, then estimates bias, scale factors, axis misalignment, and noise metrics (Allan variance approximations) to produce a calibration profile exportable to common stacks (ROS2, PX4, ArduPilot, custom JSON). The desktop app visualizes raw gyro/accel/mag streams, detects clipping/saturation, flags temperature drift, and generates a simple “pass/fail” report for QA. This is not magic: it won’t turn cheap sensors into navigation-grade units, and it won’t replace a rate table. But it can drastically reduce bad data, mis-mounted sensors, and time wasted chasing phantom navigation bugs during prototyping and small-batch production.