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iOS acceleration without g problem
On the iPhone experiment acceleration without g, the accelerometer z in a calm state stably shows -0.07 m/s^2
The “acceleration without g” is a so-called fusion sensor that utilises accelerometer, rotation rate sensor, and magnetometer in order to get rid auf Earth's acceleration. This does not necessarily work perfectly. You could check if the magnetometer looks sufficiently calibrated.

There is unfortunately nothing we can do about that as the data comes directly from the iOS firmware.

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