Angulos Azimuth Pitch Roll

APP solves the angles Azimuth, which is the angle of rotation on the Z axis, Pitch, which is the angle of rotation on the X axis, and Roll, which is the angle of rotation on the Y axis.
It is important to calibrate the sensors with a simple gesture, which is to make an EIGHT 8 several times in the air with the phone.
In APP you can use three types of sensors, Magnetic and Accelerometer together, or Rotation or Orientation.