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I have implemented listener for both Rotation Vector and Orientation Vector though i know it's depreciated i wanted to test both. I know Rotation Vector is a fusion sensor & recommended but according to it the NORTH ( the value[0] returned by getOrientation(rotationMatrix,value) geaving bearing 0 ) doesn't matches with NORTH from Orientation sensor. I've also tallied from different apps from playstore, orientation sensor values seem to be more close to them. Moreover many times my azimuth value[0] from Rotation_Vector then getOrientation just shoots up and keep oscillating between -180 to 180 P.S "getRotationMatrix(float[] R, float[] I, float[] gravity, float[] geomagnetic)" also gives same result as Rotation Vector. public final void onSensorChanged(SensorEvent event) { float rotationMatrix[]; switch(event.sensor.getType()) { . . . case Sensor.TYPE_ROTATION_VECTOR: rotationMatrix=new float[16]; mSensorManager.getRotationMatrixFromVector(rotationMatrix,event.values); determineOrientation(rotationMatrix); break; case Sensor.TYPE_ORIENTATION: sensorZValue.setText(""+event.values[0]); //rotation about geographical z axis sensorXValue.setText(""+event.values[1]); //rotation about geographical x axis sensorYValue.setText(""+event.values[2]); //rotation about geographical y axis }//switch case ends } private void determineOrientation(float[] rotationMatrix) { float[] orientationValues = new float[3]; SensorManager.getOrientation(rotationMatrix, orientationValues); double azimuth = Math.toDegrees(orientationValues[0]); double pitch = Math.toDegrees(orientationValues[1]); double roll = Math.toDegrees(orientationValues[2]); sensorZValue.setText(String.valueOf(azimuth)); //rotation about geographical z axis sensorXValue.setText(String.valueOf(pitch)); //rotati

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