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How to remove Gravity factor from Accelerometer readings in Android 3-axis accelerometer.  RSS feed

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Can anyone help on removing the g factor from accelerometer readings. I am using SensorEventListener with onSensorChanged() method for getting Sensor.TYPE_ACCELEROMETER data. I need only pure acceleration values in all directions. So at any state if the device is stable (or in constant speed), it should give (0.0,0.0,0.0) roughly.
Currently, depending on its pitch and roll, it gives me variable output depending on the g forces acting on each axis.

I hope there is some formula to remove this, as I also get orientation values (pitch and roll) from Sensor.TYPE_ORIENTATION listener. I had used some but didn't work.

Any help please ? Same post made here and here.
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