Ozzy Osbourne and Black Sabbath have gone out with a bang at what they say will be their final gig, in front of 40,000 fans and supported by an all-star line-up of rock legends who have been influenced by the founding fathers of heavy metal.

A day-long celebration of Black Sabbath and Ozzy Osbourne began in Birmingham on Saturday, as tens of thousands of fans awaited what the heavy metal legends have said will be their last live performance together.