diff --git a/Peripherals/Inc/peripherals_imu_icm.hpp b/Peripherals/Inc/peripherals_imu_icm.hpp
index ed7f684..227c0d0 100644
--- a/Peripherals/Inc/peripherals_imu_icm.hpp
+++ b/Peripherals/Inc/peripherals_imu_icm.hpp
@@ -115,11 +115,19 @@ public:
 
   void calibrate(const std::uint32_t samples) override
   {
-    std::array<std::int32_t, 3> avg_gyro;
-    std::array<std::int32_t, 3> avg_accel;
+	const auto prev_accel_scale = scale_accel_;
+	const auto prev_gyro_scale = scale_gyro_;
 
-    avg_gyro.fill(0);
-    avg_accel.fill(0);
+	setAccelerometerScale(AccelerometerScale::G2);
+	setGyroscopeScale(GyroScale::DPS_250);
+
+    std::array<std::int32_t, 3> avg_gyro = {0, 0, 0};
+    std::array<std::int32_t, 3> avg_accel = {0, 0, 0};
+    std::array<std::int32_t, 3> bias_gyro = {0, 0, 0};
+    std::array<std::int32_t, 3> bias_accel = {0, 0, 0};
+
+    const std::uint16_t gyro_sensitivity = 131;   // = 131 LSB/degrees/sec
+    const std::uint16_t accel_sensitivity = 16384; // = 16384 LSB/g
 
     for (std::uint32_t i = 0; i < samples; i++)
     {
@@ -138,11 +146,62 @@ public:
 
     for (std::uint32_t i = 0; i < 3; i++)
     {
-      bias_gyro_[i] = avg_gyro[i] / std::int32_t(samples);
-      bias_accel_[i] = avg_accel[i] / std::int32_t(samples);
+      bias_gyro[i] = avg_gyro[i] / std::int32_t(samples);
+      bias_accel[i] = avg_accel[i] / std::int32_t(samples);
     }
 
-    bias_accel_[2] -= accelerometerReadingToRaw(1);
+    if (bias_accel[2] > 0)
+    	bias_accel[2] -= accel_sensitivity;
+    else
+    	bias_accel[2] += accel_sensitivity;
+
+    std::array<std::uint8_t, 6> push_data;
+
+    // -3888, -2972, 0033
+
+    // Construct the gyro biases for push to the hardware gyro bias registers,
+    // which are reset to zero upon device startup.
+    // Divide by 4 to get 32.9 LSB per deg/s to conform to expected bias input
+    // format.
+    push_data[0] = (-bias_gyro[0]/4 >> 8) & 0xFF;
+    push_data[1] = (-bias_gyro[0]/4) & 0xFF;
+    push_data[2] = (-bias_gyro[1]/4 >> 8) & 0xFF;
+    push_data[3] = (-bias_gyro[1]/4) & 0xFF;
+    push_data[4] = (-bias_gyro[2]/4 >> 8) & 0xFF;
+    push_data[5] = (-bias_gyro[2]/4) & 0xFF;
+
+    registers.writeRegisterMultibyte(Registers_::XG_OFFSET_H & Registers_::WRITE_MASK,
+    		push_data.data(), push_data.size());
+
+    std::array<std::int32_t, 3> factory_values = {0, 0, 0};
+    registers.readRegisterMultibyte(Registers_::XA_OFFSET_H | Registers_::READ_MASK,
+    		push_data.data(), push_data.size());
+    factory_values[0] = std::int32_t((std::int16_t(push_data[0]) << 8) | push_data[1]);
+    factory_values[1] = std::int32_t((std::int16_t(push_data[2]) << 8) | push_data[3]);
+    factory_values[2] = std::int32_t((std::int16_t(push_data[4]) << 8) | push_data[5]);
+
+    // Construct total accelerometer bias, including calculated average
+    // accelerometer bias from above
+    // Subtract calculated averaged accelerometer bias scaled to 2048 LSB/g
+    // (16 g full scale)
+    bias_accel[0] = factory_values[0] - (bias_accel[0] / 8);
+    bias_accel[1] = factory_values[1] - (bias_accel[1] / 8);
+    bias_accel[1] = factory_values[1] - (bias_accel[1] / 8);
+
+    push_data[0] = ((bias_accel[0] >> 8) & 0xFF);
+    push_data[1] = ((bias_accel[0]) & 0xFF) | (factory_values[0] & 0x1);
+    push_data[2] = ((bias_accel[1] >> 8) & 0xFF);
+    push_data[3] = ((bias_accel[1]) & 0xFF) | (factory_values[1] & 0x1);
+    push_data[4] = ((bias_accel[2] >> 8) & 0xFF);
+    push_data[5] = ((bias_accel[2]) & 0xFF) | (factory_values[2] & 0x1);
+
+    registers.writeRegisterMultibyte(Registers_::XA_OFFSET_H & Registers_::WRITE_MASK,
+			push_data.data(), push_data.size());
+
+	setAccelerometerScale(prev_accel_scale);
+	setGyroscopeScale(prev_gyro_scale);
+
+	// TODO: remove manual bias calculations. These are now done in hardware.
   }
 
   void setGyroscopeScale(const GyroScale scale)