Trying to calibrate IMU, but it seems to get to end of process then stiocks with the second light from left blue instead of green.

I have waited for over 10 minutes but it doesn't clear.

Restarted and tried again but got same problem

Any ideas?

This confused me, too. Look at the iconic picture of the I2 on your display. It's telling you what orientation to move your I2 into. There's no textual description, just a picture change. It's not noticeable unless you're looking at it. The app will sit and wait for it to detect that you've re-positioned your I2.

yes, I also tried to do this on a rather flat yet tight carpet (like an idiot) and it appeared to be hung up and the progress never moved.  It wasn't until I put it on a hardwood (level) floor where it was smooth sailing. Not much detail on how this is accomplished other than how raven described it.