Stabilize movement

[angargon]

Hello
,
I am successfully using your freeimu library on an Arduino Mega board and with a GY-87.
I have read the wiki with attention although having the barrier that English is not my native language.
The calibration has been successful and I do not have big problems although I would need to improve some aspects:
The initial time it takes for the sensors to stabilize and the time it takes for the sensors to stabilize after being shaken.
The sketches that I am using are the latest versions of FreeIMU_serial.ino and FreeIMU_cube_Odo.pde

I have read some issues to find solutions but I can not improve it, for example trying to calibrate it several times.
I can not reset the matrix again because I try to use it for an onboard design that makes its implementation difficult.

I really need some advice, thank you very much.

Regards

Tony.