I don't know how to calibrate.

[Ryo-ta8976]

Hello.
Now I want to rotate with bebop using clockwise (), but bebop flows.
Calibration can be considered as a countermeasure.
I'm trying to calibrate using magnetoCalibration (), but I don't know if it's done.
Could you tell me how to calibrate?

{
  xAxisCalibration: 0,
  yAxisCalibration: 0,
  zAxisCalibration: 0,
  calibrationFailed: 0
}

{
  xAxisCalibration: 0,
  yAxisCalibration: 0,
  zAxisCalibration: 1,
  calibrationFailed: 0
}
{
  xAxisCalibration: 0,
  yAxisCalibration: 1,
  zAxisCalibration: 1,
  calibrationFailed: 0
}
{
  xAxisCalibration: 1,
  yAxisCalibration: 1,
  zAxisCalibration: 1,
  calibrationFailed: 0
}