This might not be the right place for this. Let me know where I should post if I should post it elsewhere. I want to get the orientation of the device. I am thinking I can use something like this: float fAngleX = atan2(acceleration.y, acceleration.z); float fAngleY = atan2(acceleration.x, acceleration.z); float fAngleZ = atan2(acceleration.y, acceleration.x); First, is my formula right? Second, is this going to work for the device? Third, I'm going back and forth about filtering out gravity. Any thoughts? Lastly, is there a better way to get the devices orientation expressed as rotation for all three axis?