BMI270 gyroscope x axis zero-rate offset out of spec

[sebmadgwick]

The BMI270 datasheets states that the gyroscope zero-rate offset is ±0.5 dps.  I have tested three parts (all marked "5P 057") and found the x axis to be around -3 dps on all three parts.

I am using the API to read sensor data. The attached plot shows the gyroscope zero-rate output for 10 seconds with an ODR of 400 Hz and range of 2000 dps. Tests confirm that the zero-rate offset in dps is the same for all ranges. All parts pass the self-test as implemented by the API.

Has anyone else observed this?  What is the explanation...

• User error?
• Bad batch / damaged parts?
• API bug?
• Data sheet error?

[sebmadgwick]

I can confirm that the error is fixed with the latest API (v2.34.0)

[o_o]

When updating to API version 2.34.0, since the offset is now fixed, make sure to throw away your old calibration data.

Otherwise you may end up overcompensating with +3dps instead.