I've been having issues with this for far too long. This code should output dx,dy,dz for the accelerometer, and a running total of the dx. It should also output azimuth, pitch, and roll. I've used info from http://bit.ly/codeUsed, but to no avail. This code does not correctly output pitch, azimuth, or roll. It outputs 0.0, -0.0, -0.0 for the last three textviews, respectively. Please restore my sanity by helping me switch (event.sensor.getType()) { case Sensor.TYPE_ACCELEROMETER: accelerometerValues = event.values.clone(); case Sensor.TYPE_MAGNETIC_FIELD: geomagneticMatrix = event.values.clone(); sensorReady = true; break; default: break; } if (geomagneticMatrix != null && accelerometerValues != null && sensorReady) { sensorReady = false; float[] R = new float[16]; float[] I = new float[16]; SensorManager.getRotationMatrix(R, I, accelerometerValues, geomagneticMatrix); float[] actual_orientation = new float[3]; SensorManager.getOrientation(R, actual_orientation); tvXCoordinate.setText(accelerometerValues[0] + ""); tvYCoordinate.setText(accelerometerValues[1] + ""); tvZCoordinate.setText(accelerometerValues[2] + ""); floatXTotal += accelerometerValues[0]; tvXTotal.setText(floatXTotal + ""); tvAzimuth.setText(actual_orientation[0] + ""); tvPitch.setText(actual_orientation[1] + ""); tvRoll.setText(actual_orientation[2] + ""); }