diff --git a/.github/workflows/gradle_build.yml b/.github/workflows/gradle_build.yml
new file mode 100644
index 0000000..9523766
--- /dev/null
+++ b/.github/workflows/gradle_build.yml
@@ -0,0 +1,51 @@
+name: Build APK
+
+on:
+  push:
+    branches: [ master, dev, ci-cd ]
+  pull_request:
+    branches: [ master, dev ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Configure SSH for private submodules
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          repository: Botts-Innovative-Research/osh-android
+
+      - name: Setup Java
+        uses: actions/setup-java@v4
+        with:
+          java-version: '17'
+          distribution: 'zulu'
+
+      - name: Setup Android SDK
+        uses: android-actions/setup-android@v3
+        with:
+          packages: ''
+
+      - name: Build APK
+        run: |
+          chmod +x ./gradlew
+          ./gradlew build -x test -x osgi -x lintDebug -x javadoc
+
+      - name: Upload APK artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: osh-android-APK
+          path: sensorhub-android-app/build/outputs/apk/debug/sensorhub-android-app-debug.apk
+
+      - name: Create GitHub Release
+        if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags/v')
+        uses: softprops/action-gh-release@v2
+        with:
+          files: app/build/outputs/apk/basic/release/*.apk
+          generate_release_notes: true
\ No newline at end of file
diff --git a/sensorhub-driver-android/src/main/java/org/sensorhub/impl/sensor/android/AndroidOrientationEulerOutput.java b/sensorhub-driver-android/src/main/java/org/sensorhub/impl/sensor/android/AndroidOrientationEulerOutput.java
index 9fb868e..45ce2aa 100644
--- a/sensorhub-driver-android/src/main/java/org/sensorhub/impl/sensor/android/AndroidOrientationEulerOutput.java
+++ b/sensorhub-driver-android/src/main/java/org/sensorhub/impl/sensor/android/AndroidOrientationEulerOutput.java
@@ -43,9 +43,13 @@ public class AndroidOrientationEulerOutput extends AndroidSensorOutput implement
     // for euler computation
     Quat4d att = new Quat4d();
     Vect3d look = new Vect3d();
+    Vect3d up = new Vect3d();
     Vect3d euler = new Vect3d();
-    
-    
+
+    private final float[] rotationMatrix = new float[9];
+    private final float[] orientationAngles = new float[3];
+
+
     protected AndroidOrientationEulerOutput(AndroidSensorsDriver parentModule, SensorManager aSensorManager, Sensor aSensor)
     {
         super(parentModule, aSensorManager, aSensor);
@@ -96,50 +100,28 @@ public void onSensorChanged(SensorEvent e)
     {
         double sampleTime = getJulianTimeStamp(e.timestamp);
 
-        // convert to quaternion + normalize
-        AndroidOrientationQuatOutput.getQuaternionFromVector(att, e.values);
-        att.normalize();
-        
-        // Y direction in phone ref frame ( the top of the screen )
-        look.x = 0;
-        look.y = 1;
-        look.z = 0;
-        
-        // rotate to ENU
-        att.rotate(look, look);
-                
-        double heading = 90. - Math.toDegrees(Math.atan2(look.y, look.x)); 
-        if (heading > 180.)
-            heading -= 360.;
-        double pitch = 0.0;//Math.toDegrees(Math.atan2(look.y, look.x)) - 90.;
-        double roll = 0.0;
-        
-        /*double sqw = q.w*q.w;
-        double sqx = q.x*q.x;
-        double sqy = q.y*q.y;
-        double sqz = q.z*q.z;
-        System.out.println(q0);
-        euler.z = Math.atan2(2.0 * (q.x*q.y + q.z*q.W), sqx - sqy - sqz + sqw);     // heading
-        euler.y = Math.atan2(2.0 * (q.y*q.z + q.x*q.w), -sqx - sqy + sqz + sqw);    // pitch
-        euler.x = Math.asin(-2.0 * (q.x*q.z - q.y*q.w));                            // roll
-        euler.scale(180./Math.PI);
-        
-        double oldx = euler.x; // convert to ENU
-        euler.x = euler.y;
-        euler.y = oldx;
-        euler.z = -euler.z;*/
-        
-        // build and populate datablock
-        DataBlock dataBlock = dataStruct.createDataBlock();
-        dataBlock.setDoubleValue(0, sampleTime);
-        dataBlock.setFloatValue(1, (float)heading);
-        dataBlock.setFloatValue(2, (float)pitch);
-        dataBlock.setFloatValue(3, (float)roll);
-        
-        // TODO since this sensor is high rate, we could package several records in a single event
-        // update latest record and send event
-        latestRecord = dataBlock;
-        latestRecordTime = System.currentTimeMillis();
-        eventHandler.publish(new DataEvent(latestRecordTime, this, dataBlock));
+        if (e.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR) {
+            SensorManager.getRotationMatrixFromVector(rotationMatrix, e.values);
+
+            SensorManager.getOrientation(rotationMatrix, orientationAngles);
+
+            float azimuth = (float) Math.toDegrees(orientationAngles[0]);
+            float pitch = (float) Math.toDegrees(orientationAngles[1]);
+            float roll = (float) Math.toDegrees(orientationAngles[2]);
+
+
+            // build and populate datablock
+            DataBlock dataBlock = dataStruct.createDataBlock();
+            dataBlock.setDoubleValue(0, sampleTime);
+            dataBlock.setFloatValue(1, (float) azimuth);
+            dataBlock.setFloatValue(2, (float) pitch);
+            dataBlock.setFloatValue(3, (float) roll);
+
+            // TODO since this sensor is high rate, we could package several records in a single event
+            // update latest record and send event
+            latestRecord = dataBlock;
+            latestRecordTime = System.currentTimeMillis();
+            eventHandler.publish(new DataEvent(latestRecordTime, this, dataBlock));
+        }
     }    
 }
diff --git a/submodules/osh-core b/submodules/osh-core
index 81bf0bf..a413b4d 160000
--- a/submodules/osh-core
+++ b/submodules/osh-core
@@ -1 +1 @@
-Subproject commit 81bf0bfc613a638f3331dace3c5fbb4e36ccef23
+Subproject commit a413b4d19c5ec00d6bdef84305d9dd9992bc1a15