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
diff --git a/services/sensorservice/vec.h b/services/sensorservice/vec.h
index 736ff37..f74ccc5 100644
--- a/services/sensorservice/vec.h
+++ b/services/sensorservice/vec.h
@@ -208,6 +208,15 @@
}
template <
+ template<typename T, size_t S> class V,
+ typename TYPE,
+ size_t SIZE
+>
+V<TYPE, SIZE> PURE normalize(const V<TYPE, SIZE>& v) {
+ return v * (1/length(v));
+}
+
+template <
template<typename T, size_t S> class VLHS,
template<typename T, size_t S> class VRHS,
typename TYPE