How to calibrate accelerometer sensor on Google Nexus 6P? 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 -0.02. 

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?
I have this too, and likewise it has persisted after getting a replacement device. It interferes with panoramas and photospheres, cardboard and the like. No idea on a fix. I think I'll do a second replacement.