     //mpu.setZAccelOffset(1788); // 1688 factory default for my test chip
 
     // supply your own gyro offsets here, scaled for min sensitivity
-      mpu.setXAccelOffset(95);
-      mpu.setYAccelOffset(5489);
-      mpu.setZAccelOffset(774); // 1688 factory default for my test chip
+      mpu.setXAccelOffset(2684);
+      mpu.setYAccelOffset(4297);
+      mpu.setZAccelOffset(1449); // 1688 factory default for my test chip
       
-      mpu.setXGyroOffset(50);
-      mpu.setYGyroOffset(229);
-      mpu.setZGyroOffset(22);
+      mpu.setXGyroOffset(185);
+      mpu.setYGyroOffset(3191);
+      mpu.setZGyroOffset(74);
       
 
 /**************************************************************************************/

            mpu.dmpGetGravity(&gravity, &q);
            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);

            float acc_x_val = aaWorld.x;
            float acc_y_val = aaWorld.y;
            float acc_z_val = aaWorld.z;
                    
            Serial.print("aworld\t");
            Serial.print(aaWorld.x);
            Serial.print("\t");

Check that your sensor readings are close to 0 0 16384 0 0 0
If calibration was succesful write down your offsets so you can set them in your projects using something similar to mpu.setXAccelOffset(youroffset)

new sensor
Sensor readings with offsets:  -3  -1  16382 0 0 0
Your offsets: 2684  4297  1449  185 3191  74

Data is printed as: acelX acelY acelZ giroX giroY giroZ
Check that your sensor readings are close to 0 0 16384 0 0 0
If calibration was succesful write down your offsets so you can set them in your projects using something similar to mpu.setXAccelOffset(youroffset)

*/
/**************************************************************************************/
