diff --git a/fsensor/build.gradle b/fsensor/build.gradle
index b5c70f2..1c91ccd 100644
--- a/fsensor/build.gradle
+++ b/fsensor/build.gradle
@@ -15,7 +15,7 @@ android {
         minSdkVersion 14
         targetSdkVersion 29
         versionCode 9
-        versionName "2.0"
+        versionName "2.2"
 
         testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
 
diff --git a/fsensor/src/main/java/com/kircherelectronics/fsensor/sensor/acceleration/AccelerationSensor.java b/fsensor/src/main/java/com/kircherelectronics/fsensor/sensor/acceleration/AccelerationSensor.java
index 7381950..b3152e4 100644
--- a/fsensor/src/main/java/com/kircherelectronics/fsensor/sensor/acceleration/AccelerationSensor.java
+++ b/fsensor/src/main/java/com/kircherelectronics/fsensor/sensor/acceleration/AccelerationSensor.java
@@ -40,6 +40,8 @@ public class AccelerationSensor implements FSensor {
 
     private final SensorSubject sensorSubject;
 
+    private int sensorType = Sensor.TYPE_ACCELEROMETER;
+
     public AccelerationSensor(Context context) {
         this.sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);
         this.listener = new SimpleSensorListener();
@@ -69,6 +71,18 @@ public void unregister(SensorSubject.SensorObserver sensorObserver) {
         sensorSubject.unregister(sensorObserver);
     }
 
+    /**
+     * Set the gyroscope sensor type.
+     * @param sensorType must be Sensor.TYPE_GYROSCOPE or Sensor.TYPE_GYROSCOPE_UNCALIBRATED
+     */
+    public void setSensorType(int sensorType) {
+        if(sensorType != Sensor.TYPE_ACCELEROMETER && sensorType != Sensor.TYPE_ACCELEROMETER_UNCALIBRATED && sensorType != Sensor.TYPE_LINEAR_ACCELERATION) {
+            throw new IllegalStateException("Sensor Type must be Sensor.TYPE_ACCELEROMETER or Sensor.TYPE_ACCELEROMETER_UNCALIBRATED or sensorType != Sensor.TYPE_LINEAR_ACCELERATION");
+        }
+
+        this.sensorType = sensorType;
+    }
+
     /**
      * Set the sensor frequency.
      * @param sensorDelay Must be SensorManager.SENSOR_DELAY_FASTEST, SensorManager.SENSOR_DELAY_GAME, SensorManager.SENSOR_DELAY_NORMAL or SensorManager.SENSOR_DELAY_UI
@@ -112,7 +126,7 @@ private void processAcceleration(float[] acceleration) {
     private void registerSensors(int sensorDelay) {
         // Register for sensor updates.
         sensorManager.registerListener(listener, sensorManager
-                        .getDefaultSensor(Sensor.TYPE_ACCELEROMETER),
+                        .getDefaultSensor(sensorType),
                 sensorDelay);
     }
 
@@ -130,7 +144,7 @@ private class SimpleSensorListener implements SensorEventListener {
 
         @Override
         public void onSensorChanged(SensorEvent event) {
-            if (event.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
+            if (event.sensor.getType() == sensorType) {
 
                 processAcceleration(event.values);
                 setOutput(acceleration);
diff --git a/fsensor/src/main/java/com/kircherelectronics/fsensor/util/gravity/GravityUtil.java b/fsensor/src/main/java/com/kircherelectronics/fsensor/util/gravity/GravityUtil.java
index 38665dc..13f1e59 100644
--- a/fsensor/src/main/java/com/kircherelectronics/fsensor/util/gravity/GravityUtil.java
+++ b/fsensor/src/main/java/com/kircherelectronics/fsensor/util/gravity/GravityUtil.java
@@ -40,21 +40,24 @@ public static float[] getGravityFromOrientation(float[] orientation) {
 
         float[] components = new float[3];
 
+        float pitch = orientation[1];
+        float roll = orientation[2];
+
         // Find the gravity component of the X-axis
         // = g*-cos(pitch)*sin(roll);
         components[0] = (float) -(gravity[0]
-                * -Math.cos(orientation[0]) * Math
-                .sin(orientation[1]));
+                * -Math.cos(pitch) * Math
+                .sin(roll));
 
         // Find the gravity component of the Y-axis
         // = g*-sin(pitch);
         components[1] = (float) (gravity[1] * -Math
-                .sin(orientation[0]));
+                .sin(pitch));
 
         // Find the gravity component of the Z-axis
         // = g*cos(pitch)*cos(roll);
         components[2] = (float) (gravity[2]
-                * Math.cos(orientation[0]) * Math.cos(orientation[1]));
+                * Math.cos(pitch) * Math.cos(roll));
 
         return components;
     }