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POGyroscope does not show any drift
 

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    <p>I'm in a little bit weird situation. The situation I currently have is typically a good one - no gyro drift at all - but I have no clue why this is the case. I expected the gyroscope to drift a lot as reported everywhere. Therefore this question to find the reason why I do not see any drift.</p> <p>I use a Galaxy Nexus (Android 4.0.3) and its gyroscope to do some orientation change detection in the end. In the first place, I just wanted to log the sensor readings and expected to see large drifting values as for example <a href="https://stackoverflow.com/questions/1586658/combine-gyroscope-and-accelerometer-data">here</a>. Also on other websites I read of drifting of about 1 degree per second or similar measurements.</p> <p>My code to log the sensor data is very basic:</p> <pre><code>SensorManager sm = (SensorManager) getSystemService(SENSOR_SERVICE); LogSensorEventListener listener = new LogSensorEventListener( SensorLoggerActivity.this, Sensor.TYPE_GYROSCOPE); sm.registerListener(listener, sm.getDefaultSensor(Sensor.TYPE_GYROSCOPE), SensorManager.SENSOR_DELAY_FASTEST); </code></pre> <p>LogSensorEventListener is also a very basic implementation of the SensorEventListenerInterface:</p> <pre><code>@Override public void onSensorChanged(SensorEvent event) { final float dT = (event.timestamp - mTimestamp) / 1000000000.f; if (dT &lt; 1) { // just a fix for the first step mRelZ += event.values[2] * dT; list.add(mRelZ); list2.add(event.timestamp); } mTimestamp = event.timestamp; </code></pre> <p>mRelZ is initially set to 0 and the two lists should keep track of time and measured value. If finished with my measurement (clicking a button) the values are written to file:</p> <pre><code> try { for (int i = 0; i &lt; list.size(); i++) { long time = list2.get(i); if (mStartTime &lt; 0) { mStartTime = time; time = 0; } else { time = time - mStartTime; } float timef = time / 1000000000.0f; sb.append(timef); sb.append(";"); sb.append(Math.toDegrees(list.get(i))); sb.append("\n"); } mOutFileStream.write(sb.toString().getBytes()); mOutFileStream.flush(); mOutFileStream.close(); } catch (IOException e) { } </code></pre> <p>Everything works fine but the only drift I can see (for example when having the device lying on a table and logging values for let's say 60 seconds) is about 0.2 degree. If I move the device to get something like in the screenshot above no drift can be observed at all...</p> <p>What I'm I doing wrong (or right?)??</p> <p>Thanks for any advice! </p>
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    1. COI had to read 3 times your first sentence until I understood it ;)
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    2. COSorry, I reformulated it to make it at least a little bit clearer...
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