Revert "improve sensor fusion" -- DO NOT MERGE

This reverts commit bdf277355dcd647bd5d27b38fc107243a2247a02.
This reverts commit dc5b63e40ee697324d39fe105d6f12c2bb031fc6.

it might be responsible for a regression that makes the
rotation vector spin.

Bug: 7267330
Change-Id: Ifb10e933537e70c1d85a7ba73a7e3ae59002fe62
1 file changed