What phone are you using? This surprises me because most phones are using some sort of sensor fusion to deal with this exact issue. https://en.m.wikipedia.org/

What phone are you using? This surprises me because most phones are using some sort of sensor fusion to deal with this exact issue. https://en.m.wikipedia.org/wiki/Kalman_filter https://en.m.wikipedia.org/wiki/Kalman_filter