The easiest way is to use SENSOR_ORIENTATION (http://code.google.com/
android/reference/android/hardware/
SensorManager.html#SENSOR_ORIENTATION). It does all the necessary
calculations on the magnetometer and accelerometer values, throws in
some low-pass filtering, and spits out azimuth, pitch, and roll. The
calculations aren't perfect - you'll see some strange things at the
branch cuts, like the az spinning backwards through the entire range
when you raise the phone over your head, but it's pretty good for most
practical uses.
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