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This is a little demo project I quickly threw together that reads out the accelerometer, magnetometer and gyroscope and visualises them.
The accelerometer and magnetometer are used to draw 3D vectors to visualise them. A 3rd vector is drawn with a calculated horizon aligned north. I did have issues on my iPhone with the magnetometer, I do not know yet if this is a bug, something in my code, or a fact of using this indoors with to much interference.
There are also two cubes drawn on the screen.
The left cube is orientated using the magnetometer and accelerometer data.
The right cube combines gyroscope and accelerometer data.
Obviously this should be used on mobile phones. Someone should test this on Android. I suspect the vectors on Android are incorrect or change depending on the phones orientation (iOS does this and there is code in Godot to compensate).