@Override
    public void onSensorChanged(SensorEvent event) {
        switch (event.sensor.getType()) {
            case Sensor.TYPE_ACCELEROMETER:
                System.arraycopy(event.values, 0, valuesAccel, 0, 3);
                break;

            case Sensor.TYPE_MAGNETIC_FIELD:
                System.arraycopy(event.values, 0, valuesMagnet, 0, 3);
                break;

            case Sensor.TYPE_GRAVITY:
                System.arraycopy(event.values, 0, valuesGravity, 0, 3);
                break;

            default:
                break;
        }

        if (SensorManager.getRotationMatrix(rotationMatrixTemp, null, valuesAccel, valuesMagnet)) {
            SensorManager.getOrientation(rotationMatrixTemp, valuesOrientation);

            if(valuesGravity[2] < 0)                                     {
                if (valuesOrientation[1] > 0) {
                    valuesOrientation[1] = (float) (Math.PI - valuesOrientation[1]);
                }
                else {
                    valuesOrientation[1] = (float) (-Math.PI - valuesOrientation[1]);
                }
            }

            for (int i = 0; i < valuesOrientation.length; i++) {
                valuesOrientation[i] /= Math.PI;
                valuesOrientation[i] *= 100;
                valuesOrientation[i] = (int)valuesOrientation[i];
                valuesOrientation[i] /= 100;
            }


            updateOrientationBuffer(valuesOrientation);

            quadcopter.onEvent(new Event(Event.Codes.ORIENTATION_CHANGED, calculateSmoothedOrientation()));
        }
        else {
            Log.d("Quadcopter-SM", "Matrix rotate error");
        }
    }