diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9a7e401..2508467 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,6 +24,7 @@ add_message_files(
 # Add service files.
 add_service_files(
   FILES
+  calibrate_gyroscope.srv
   set_axis_home.srv
   get_proximity_configuration.srv
 )
diff --git a/srv/calibrate_gyroscope.srv b/srv/calibrate_gyroscope.srv
new file mode 100644
index 0000000..9a3bb82
--- /dev/null
+++ b/srv/calibrate_gyroscope.srv
@@ -0,0 +1,6 @@
+# Requests a zero-velocity calibration of a gyroscope.
+
+uint32 averaging_period     # The number of milliseconds to average the bias calculation over.
+---
+bool success                # TRUE if the calibration was successful, otherwise FALSE.
+string message              # If unsuccesful, reports the reason.
\ No newline at end of file