How to create a 3D compass in Android?

Question

I am currently trying to develop a 3D compass myself. I have been trying for almost a week now, and still no luck. So please help me out. This is the code I use for my orientation handler:

public void onSensorChanged(int sensor, float[] values) { // azimuth pitch roll
        if (sensor == SensorManager.SENSOR_ACCELEROMETER) {
            direction = values[2];
        } else if (sensor == SensorManager.SENSOR_ORIENTATION) {
            if (direction < 0) {
                angleX = values[1];
                angleY = -values[2];
                angleZ = values[0];
            } else {
                angleX = -values[1];
                angleY = -values[2];
                angleZ = values[0];
            }

            //          angleX = values[0];
            //          angleY = values[1];
            //          angleZ = values[2];
        }

angleX, Y and Z are the degrees I rotate my 3D object with. At first I tried the commented code, but the object doesn't rotate around the correct axis. But now the problem is that at a certain point the object "jumps" from one position to another. This particularly happens when the pitch becomes lower than -90 and thus begins to increase while on the other hand the yaw is increased with a 180 degrees and so is the roll.

Please tell why my code isn't working correctly and how can I fix it.