Thanks, I've made much more progress. I'm making Rotation the primary if it 
exists and smoothing the Mag-accel via exponential smoothing of the 
vectors. 

I have seen in some examples where gravity sensor is used as if it were a 
backup to the accelerometer. However, I have found no device that has a 
gravity sensor and no accelerometer. 

I have much more data now about which devices have which sensors. I can 
share it here if people are interested. 

I've seen that about two thirds of devices have a rotation sensor. A very 
few have a rotation sensor and no magnetic sensor, which seems not right to 
me. 

Drifting only a little bit, but does anyone know what sensors the Android 
Wear watches, Gear Live and LG G have?

It looks like they do have magnetic and accelerometer but I can't tell if 
they have Rotation. I don't have the hardware yet to query and emulators 
will be no good. It would simplify things if we know they have rotation 
sensor. 

Nathan

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