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double accX = -x/SensorManager.GRAVITY_EARTH; double accY = -y/SensorManager.GRAVITY_EARTH; double accZ = z/SensorManager.GRAVITY_EARTH; double totAcc = Math.sqrt((accX*accX)+(accY*accY)+(accZ*accZ)); double tiltX = Math.asin(accX/totAcc); double tiltY = Math.asin(accY/totAcc); double tiltZ = Math.asin(accZ/totAcc);