diff --git a/calib/calib.nb b/calib/calib.nb
index 37adb9c..f663b25 100644
--- a/calib/calib.nb
+++ b/calib/calib.nb
@@ -10,10 +10,10 @@
 NotebookFileLineBreakTest
 NotebookFileLineBreakTest
 NotebookDataPosition[       158,          7]
-NotebookDataLength[    179209,       3896]
-NotebookOptionsPosition[    176031,       3833]
-NotebookOutlinePosition[    176366,       3848]
-CellTagsIndexPosition[    176323,       3845]
+NotebookDataLength[    222358,       4775]
+NotebookOptionsPosition[    218979,       4710]
+NotebookOutlinePosition[    219313,       4725]
+CellTagsIndexPosition[    219270,       4722]
 WindowFrame->Normal*)
 
 (* Beginning of Notebook Content *)
@@ -35,7 +35,7 @@ Cell[BoxData[{
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   RowBox[{"data", "=", 
    RowBox[{"Import", "[", 
-    RowBox[{"\"\<ugv2_moving.csv\>\"", ",", 
+    RowBox[{"\"\<ugv4_moving.csv\>\"", ",", 
      RowBox[{"HeaderLines", "\[Rule]", "1"}]}], "]"}]}], 
   ";"}], "\[IndentingNewLine]", 
  RowBox[{
@@ -47,8 +47,9 @@ Cell[BoxData[{
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   3.764181494963828*^9}, {3.764181657781171*^9, 3.7641816705271997`*^9}, {
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- CellLabel->"In[3]:=",ExpressionUUID->"9d982e0c-62ac-49c9-8fab-0efac1e57ee1"],
+  3.766446368924687*^9, 3.766446374406006*^9}, {3.7680866381190777`*^9, 
+  3.768086638205371*^9}},
+ CellLabel->"In[1]:=",ExpressionUUID->"9d982e0c-62ac-49c9-8fab-0efac1e57ee1"],
 
 Cell[BoxData[
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@@ -80,288 +81,337 @@ Cell[BoxData[
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-  3.764181742499264*^9}},
- CellLabel->"In[6]:=",ExpressionUUID->"9e6d0196-dead-4dc5-9762-497e415abc3e"],
+  3.764181742499264*^9}, {3.76841609221591*^9, 3.768416092529107*^9}, {
+  3.768416133214764*^9, 3.7684161337833843`*^9}, {3.7684161660543957`*^9, 
+  3.768416167558385*^9}, {3.768416667876411*^9, 3.768416673578579*^9}},
+ CellLabel->"In[21]:=",ExpressionUUID->"9e6d0196-dead-4dc5-9762-497e415abc3e"],
 
 Cell[CellGroupData[{
 
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+ CellLabel->"In[22]:=",ExpressionUUID->"55fc2693-bfc0-4284-878d-723d16de613e"],
 
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diff --git a/calib/calibgyro.nb b/calib/calibgyro.nb
index 6ec2a8f..c675149 100644
--- a/calib/calibgyro.nb
+++ b/calib/calibgyro.nb
@@ -10,10 +10,10 @@
 NotebookFileLineBreakTest
 NotebookFileLineBreakTest
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-NotebookOptionsPosition[    168757,       3714]
-NotebookOutlinePosition[    169092,       3729]
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+CellTagsIndexPosition[    157020,       3524]
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- CellLabel->"Out[1]=",ExpressionUUID->"d714e440-83e1-402e-946a-6ad01a10cf86"]
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@@ -670,7 +466,8 @@ hniWNNQz4DxlmZ+v6pl/J51+u6xcV6vAfL7IMMwTwvzxu1qy5LfluZtdMdS3
          Part[#, 1]], 
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+  PlotRange->{{-0.19342117736486603`, 
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@@ -679,8 +476,9 @@ hniWNNQz4DxlmZ+v6pl/J51+u6xcV6vAfL7IMMwTwvzxu1qy5LfluZtdMdS3
      Scaled[0.05]}},
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 Cell[CellGroupData[{
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 },
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diff --git a/main/ugv_io_mpu.cc b/main/ugv_io_mpu.cc
index b929e79..35974d5 100644
--- a/main/ugv_io_mpu.cc
+++ b/main/ugv_io_mpu.cc
@@ -21,16 +21,21 @@ static constexpr mpud::gyro_fs_t MPU_GYRO_FS = mpud::GYRO_FS_500DPS;
 static constexpr float MPU_MAG_TO_FLUX = (4912.f) / (32760.f);
 
 static const Vec3f ACCEL_OFFSET = {0., 0., 0.};
-static const Mat3f ACCEL_MAT = {-1., 0., 0., 0., -1., 0., 0., 0., -1.};
-// static const Vec3f MAG_OFFSET   = {-7.79683, 3.6735, 32.3868};
-// static const Vec3f MAG_OFFSET   = {-118.902, 18.8173, -39.209};
-static const Vec3f MAG_OFFSET = {-135.994629, 19.117216, -33.0};
-// static const Mat3f MAG_MAT      = {0., -0.0281408, 0., -0.0284409, 0., 0.,
-// 0., 0., 0.0261544};
-static const Mat3f MAG_MAT = {0., -0.0335989, 0., -0.0330167, 0.,
-                              0., 0.,         0., 0.0335989};
-static const Vec3f GYRO_OFFSET = {-4.33655, -2.76826, -0.908427};
-static const Mat3f GYRO_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
+static const Mat3f ACCEL_MAT = {1., 0., 0., 0., 1., 0., 0., 0., 1.};
+//static const Vec3f MAG_OFFSET   = {76.6938, 11.5453, 64.3988};
+//static const Vec3f MAG_OFFSET   = {62.3746, 9.89597,39.9587};
+static const Vec3f MAG_OFFSET   = {70.8462, 19.7919, 64.0239};
+//static const Vec3f MAG_OFFSET = {0, 0, 0,};
+//static const Mat3f MAG_MAT = {0., -0.0305935, 0., 0.0294454, 0.,
+//                              0., 0.,         0., 0.0289344};
+//  static const Mat3f MAG_MAT = {0., -0.034202, 0.,0.028624, 0., 0., 0., 0., 0.0276165};
+//static const Mat3f MAG_MAT = {0., -0.028624, 0.,0.034202, 0., 0., 0., 0., 0.0276165};
+static const Mat3f MAG_MAT = {0., -0.0279054, 0., 0.0272776, 0., 0., 0., 0., 0.0259509};
+//static const Mat3f MAG_MAT = {1, 0, 0, 0, 1, 0, 0, 0, 1};
+//static const Vec3f GYRO_OFFSET = {-2.01854, -2.62769, -0.30177};
+static const Vec3f GYRO_OFFSET = {-1.99247, -2.48463, 0.294875};
+//static const Vec3f GYRO_OFFSET = {0, 0, 0};
+static const Mat3f GYRO_MAT = {1., 0., 0., 0., 1., 0., 0., 0., -1.};
 
 static const char *TAG = "ugv_io_mpu";
 
@@ -79,7 +84,7 @@ bool MPU::Initialize() {
   mpu_bus_ = &i2c0;
   // This is shared with the oled, so just use those pins
   mpu_bus_->setTimeout(10);
-  mpu_bus_->begin(MPU_SDA, MPU_SCL, 400000);
+  mpu_bus_->begin(MPU_SDA, MPU_SCL, GPIO_PULLUP_DISABLE, GPIO_PULLUP_DISABLE, 400000);
   mpu_ = new mpud::MPU(*mpu_bus_);
 
   esp_err_t ret;