Merge branch 'sergi' of...

Merge branch 'sergi' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/adc/libraries/model_car_drivers into sergi

doc/egomotion.md

@@ -20,6 +20,12 @@ The wheel encoders have a relatively low resolution (60 counts per revolution) w
 
 The IMU used in the car is the [MPU9250](https://invensense.tdk.com/products/motion-tracking/9-axis/mpu-9250/). Check its documentation for further details and section 1.4.3 of the [hardware manual](https://drive.google.com/drive/folders/1OxAIbyjF__c_3nsVdmDuN2BNE6a4JI3r) fir further details.
 
+A set of functions is provided to handle the zero calibration process of the gyroscope sensor. These feature allows the user to:
+
+* Start the calibration process specifying the number of samples to average. The default value is 100.
+* Stop the calibration process at any time. In this case, the calibration data up to the stopping point will be used.
+* Check the current status of the calibration process.
+
 # Example
 
 This driver provides a simple example that shows the measured data of the sensors on screen. To test it execute the following command: