Remaping reference coordinate of sensors using custom values

Question

I'm trying to make motion controller using the values from android sensors. Currently sending/receiving data to/from PC is almost done, and also already gone a trial to rotate cube using orientation sensor values, and it seemed usable.

The problem is, as orientation sensor uses magnetic sensor to calculate orientation, the actual values islikely to different from the desired values. For instance, one will expect the cube stays unrotated when he or she directs the controller straight to the PC monitor. Actually, cube will be rotated for such as (27, 59, 107), unless the PC is strictly placed on the north poll.

I've already searched for some references, but only I could found was remapping the reference by predefined constants, such as ROTATE_X_90.

Is there any way to remap reference coordinate by custom values?