Hello Steve, @steve-landers The following points were suggested by Sensortec team. See if it helps. Test environment The device is mounted on a static platform while taking logs. All three axis data is recorded at the same time. The time difference between each run is 1 minutes and the device is turned OFF during this time. Axis 1, 2, 3 corresponds to sensor axis x, y, z respectively. keep the sensor stationary; record gyroscope data 1 minute; close gyro off for 30 seconds before turning gyro on. Repeat step 2 four times to record the gyroscope data. For step 3, did you add enough delay time until gyro stable after turning on gyro? There were four version BMI270 sensor API on githubhttps://github.com/boschsensortec/BMI270-Sensor-API, which sensor API(BMI270 base, BMI270 context, BMI270 legacy, BMI270maximum FIFO) you used? BMI270 (base) Any motion, No motion, Significant motion detectors Wrist worn Step counter and Step detector (Pedometer) Activity change recognition Still Walking Running Wrist gestures Push arm down Pivot up Wrist shake jiggle Flick in Flick out Wrist wear wake up BMI270 Context Step counter and Step detector (Pedometer) Activity change recognition Still Walking Running BMI270 Legacy Any motion, No motion, Significant motion detector Orientation detector (Advanced Potrait-Landscape) High-G, Low-G (Freefall) detector Flat detector Tap detection (Single, Double, Triple taps) Smartphone Step counter and Step detector (Pedometer) Activity change recognition Still Walking Running BMI270 Maximum FIFO Supports a 6kB FIFO
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