commit 3301542828febc768e1df42892cfac4992c35474
author Mathias Agopian <mathias@google.com> Fri May 27 18:18:13 2011 -0700
committer Mathias Agopian <mathias@google.com> Wed Jun 27 17:07:55 2012 -0700
tree 759732e19eaa05c365b2c92f0add66a9dd878e30
parent 984826cc158193e61e3a00359ef4f6699c7d748a

use quaternions instead of MRPs

also use correct time propagation equation
disable the fused sensors when gyro is not present since
they were unusable in practice.

Change-Id: Iad797425784e67dc6c5690e97c71c583418cc5b5

services/sensorservice/CorrectedGyroSensor.cpp

diff --git a/services/sensorservice/CorrectedGyroSensor.cpp b/services/sensorservice/CorrectedGyroSensor.cpp
index 9b75b70..1857443 100644
--- a/services/sensorservice/CorrectedGyroSensor.cpp
+++ b/services/sensorservice/CorrectedGyroSensor.cpp
@@ -45,7 +45,7 @@
         const sensors_event_t& event)
 {
     if (event.type == SENSOR_TYPE_GYROSCOPE) {
-        const vec3_t bias(mSensorFusion.getGyroBias() * mSensorFusion.getEstimatedRate());
+        const vec3_t bias(mSensorFusion.getGyroBias());
         *outEvent = event;
         outEvent->data[0] -= bias.x;
         outEvent->data[1] -= bias.y;