The runaway had a formula behind it. With both integrator stages sharing one time constant the settled offset is p = a · hold², so at 1.6 s a residual of only 0.023 m/s² parks the dot against the limit forever — below the noise gate, invisible and unstoppable.
The two stages are separate now, and the bias is removed continuously rather than only while the phone rests. That matters because most of the residual is gravity-removal error, which changes with how you hold the phone.
Tap anywhere to recentre. The dot turns green while it is being held still.
Continuously subtracts the slow average of the acceleration, so any constant offset — including the orientation-dependent gravity leak — is removed as it appears. Real hand movement is far faster than this and passes through untouched. Set it to maximum to see the old behaviour return.
Settled offset from a 0.03 m/s² residual: 10 mm.
World is correct: a point in the room does not roll with you. Screen ignores roll and is easier to read while tuning.
Axes: detecting.