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/SensorFusion.h

diff --git a/services/sensorservice/SensorFusion.h b/services/sensorservice/SensorFusion.h
index c7eab12..4c99bcb 100644
--- a/services/sensorservice/SensorFusion.h
+++ b/services/sensorservice/SensorFusion.h
@@ -27,7 +27,6 @@
 #include <gui/Sensor.h>
 
 #include "Fusion.h"
-#include "SecondOrderLowPassFilter.h"
 
 // ---------------------------------------------------------------------------
 
@@ -45,15 +44,10 @@
     Sensor mGyro;
     Fusion mFusion;
     bool mEnabled;
-    bool mHasGyro;
     float mGyroRate;
     nsecs_t mTargetDelayNs;
     nsecs_t mGyroTime;
-    mat33_t mRotationMatrix;
-    SecondOrderLowPassFilter mLowPass;
-    BiquadFilter<vec3_t> mAccData;
-    vec3_t mFilteredMag;
-    vec3_t mFilteredAcc;
+    vec4_t mAttitude;
     SortedVector<void*> mClients;
 
     SensorFusion();
@@ -62,9 +56,9 @@
     void process(const sensors_event_t& event);
 
     bool isEnabled() const { return mEnabled; }
-    bool hasGyro() const { return mHasGyro; }
-    bool hasEstimate() const { return !mHasGyro || mFusion.hasEstimate(); }
-    mat33_t getRotationMatrix() const { return mRotationMatrix; }
+    bool hasEstimate() const { return mFusion.hasEstimate(); }
+    mat33_t getRotationMatrix() const { return mFusion.getRotationMatrix(); }
+    vec4_t getAttitude() const { return mAttitude; }
     vec3_t getGyroBias() const { return mFusion.getBias(); }
     float getEstimatedRate() const { return mGyroRate; }