Ардуино акселерометр MPU 6050 не калибруется

Ардуин акселерометр MPU 6050 не калибруется и показывает при включении сразу -7834 -4646 3046. Как исправить?

 #include "I2Cdev.h" 
#include "MPU6050.h" 
 
/* MPU6050 default I2C address is 0x68*/ 
MPU6050 mpu; 
 
int16_t ax, ay, az; 
int16_t gx, gy, gz; 
int x; 
int y; 
int z; 
 
void setup() { 
    /*--Start I2C interface--*/ 
  #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE 
    Wire.begin();  
  #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE 
    Fastwire::setup(400, true); 
  #endif 
 
  Serial.begin(38400); //Initializate Serial wo work well at 8MHz/16MHz 
 
  /*Initialize device and check connection*/  
  Serial.println("Initializing MPU..."); 
  mpu.initialize(); 
  Serial.println("Testing MPU6050 connection..."); 
  if(mpu.testConnection() ==  false){ 
    Serial.println("MPU6050 connection failed"); 
    while(true); 
  } 
  else{ 
    Serial.println("MPU6050 connection successful"); 
  } 
 
  /* Use the code below to change accel/gyro offset values. Use MPU6050_Zero to obtain the recommended offsets */  
  Serial.println("Updating internal sensor offsets...\n"); 
  mpu.setXAccelOffset(0); //Set your accelerometer offset for axis X 
  mpu.setYAccelOffset(0); //Set your accelerometer offset for axis Y 
  mpu.setZAccelOffset(0); //Set your accelerometer offset for axis Z 
  mpu.setXGyroOffset(0);  //Set your gyro offset for axis X 
  mpu.setYGyroOffset(0);  //Set your gyro offset for axis Y 
  mpu.setZGyroOffset(0);  //Set your gyro offset for axis Z 
  Serial.print("\t"); 
  Serial.print(mpu.getXAccelOffset()); 
  Serial.print("\t"); 
  Serial.print(mpu.getYAccelOffset());  
  Serial.print("\t"); 
  Serial.print(mpu.getZAccelOffset()); 
  Serial.print("\t"); 
  Serial.print(mpu.getXGyroOffset());  
  Serial.print("\t"); 
  Serial.print(mpu.getYGyroOffset()); 
  Serial.print("\t"); 
  Serial.print(mpu.getZGyroOffset()); 
  Serial.print("\n"); 
 
 
} 
 
void loop() { 
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); 
   x= (ax+gx)/2; 
   y= (ay+gy)/2; 
   z= (az+gz)/2; 
   Serial.print(x); 
   Serial.print(" "); 
   Serial.print(y); 
   Serial.print(" "); 
   Serial.print(z); 
   Serial.println(" "); 
   delay(200); 
 
 
}