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Gryoscope Camera Control

Hi all,

I am trying to get a AR like camera control setup in UE4. I know how to get the tilt, gravity, rotation rate and acceleration. However, I am unsure how to use the values to rotate the camera to match the real world orientation.

I want the green arrow to be the forward vector of my pawn and at the center of the sphere is the phone where the back of the phone has the green arrow as the normal vector.