Methods and electronic devices for determining orientation are described. In one aspect, a processor-implemented method of determining a corrected orientation of a gyroscope on an electronic device includes: generating a gyroscope reading using the gyroscope; determining, by the processor, a first orientation estimate based on the gyroscope reading and a past corrected orientation; determining, by the processor, whether the gyroscope was saturated when the gyroscope reading was generated; adjusting, by the processor, a saturation correction learning rate for the gyroscope based on the result of the determination of whether the gyroscope was saturated; and calculating, by the processor, the corrected orientation based on the first orientation estimate, a second orientation estimate and the saturation correction learning rate.