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
Here is a chart of the coordinate axis to help the issue:
Here is a picture of the measurements I took:
First, I assumed an device-specific hardware issue, but the issue is still present on a second replacement device.
Is this issue known? How could I calibrate the sensor to remove the offset?