How do you select Beta and Zeta gains in Madgwicks/Tahony ahrs?

[XaviLC]

Hi @xioTechnologies

I have a question regarding the value for the beta and zeta of the Magwidck/Tahony ahrs. According to the documentation, the filter gains beta and zeta should represente the bias of the gyroscope.

In am working with the BMI160 IMU and I would like to have its respective gyroscope bias too, is this error the so called Zero-rate offset?

On the other hand, how do you know/calculate the time to get an estable output of the Madgwick filtering (its convergence)?

Thanks in advance,

Regards!