When building an application for Android, I've noticed that the rotation 
vector sensor gives readings that are off. 

The phone's rotation is reported a little bit tilted.


When investigating, I found that the accelerometer pointing along the 
x-axis is offset by approximately -0.2.


First, I assumed an hardware issue, but the issue is still present on a 
second replacement device. The issue affects all apps that use the sensor, 
including google's photosphere app. 

Is this issue known? How could I calibrate the sensor to remove the offset?


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