Updating orientation xml configuration for RD-PQ target

- Updating RD-PQ xml configuration for orientation virtual sensor.
- Updating RD-PQ xml configuration for geomagnetic rv virtual
  sensor.
- Updating RD-PQ xml configuration for rotation vector virtual
  sensor.
- W3C compliance for orientation rotations.

Change-Id: I55e23be69b09030de636d151d86f86b472266b76

diff --git a/virtual_sensors.xml b/virtual_sensors.xml
index ab299df..411802c 100755 (executable)
--- a/virtual_sensors.xml
+++ b/virtual_sensors.xml
@@ -75,19 +75,19 @@
                        <VENDOR value="SAMSUNG" />
                        <RAW_DATA_UNIT value="DEGREES" />
                        <DEFAULT_SAMPLING_TIME value="100" />
-                       <ACCEL_STATIC_BIAS value1="0.098586" value2="0.18385" value3="0.274" />
-                       <GYRO_STATIC_BIAS value1="-5.3539" value2="0.24325" value3="2.3391" />
-                       <GEOMAGNETIC_STATIC_BIAS value1="0" value2="-37.6" value3="37.6" />
-                       <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
-                       <GYRO_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
+                       <ACCEL_STATIC_BIAS value1="0.046091" value2="0.127486" value3="0.10787" />
+                       <GYRO_STATIC_BIAS value1="-0.54385" value2="0.24325" value3="0.87875" />
+                       <GEOMAGNETIC_STATIC_BIAS value1="-2.25" value2="-5.5" value3="1.35" />
+                       <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="-1" value3="1" />
+                       <GYRO_ROTATION_DIRECTION_COMPENSATION value1="-1" value2="1" value3="-1" />
                        <GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION value1="1" value2="-1" value3="1" />
                        <ACCEL_SCALE value="1" />
-                       <GYRO_SCALE value="1160" />
+                       <GYRO_SCALE value="1150" />
                        <GEOMAGNETIC_SCALE value="1" />
-                       <MAGNETIC_ALIGNMENT_FACTOR value="1" />
+                       <MAGNETIC_ALIGNMENT_FACTOR value="-1" />
                        <AZIMUTH_ROTATION_COMPENSATION value="1" />
                        <PITCH_ROTATION_COMPENSATION value="1" />
-                       <ROLL_ROTATION_COMPENSATION value="1" />
+                       <ROLL_ROTATION_COMPENSATION value="-1" />
                </ORIENTATION>
 
                <GRAVITY>
@@ -113,29 +113,29 @@
                        <NAME value="RV_SENSOR" />
                        <VENDOR value="SAMSUNG" />
                        <DEFAULT_SAMPLING_TIME value="100" />
-                       <ACCEL_STATIC_BIAS value1="0.098586" value2="0.18385" value3="0.274" />
-                       <GYRO_STATIC_BIAS value1="-5.3539" value2="0.24325" value3="2.3391" />
-                       <GEOMAGNETIC_STATIC_BIAS value1="0" value2="-37.6" value3="37.6" />
-                       <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
-                       <GYRO_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
+                       <ACCEL_STATIC_BIAS value1="0.046091" value2="0.127486" value3="0.10787" />
+                       <GYRO_STATIC_BIAS value1="-0.54385" value2="0.24325" value3="0.87875" />
+                       <GEOMAGNETIC_STATIC_BIAS value1="-2.25" value2="-5.5" value3="1.35" />
+                       <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="-1" value3="1" />
+                       <GYRO_ROTATION_DIRECTION_COMPENSATION value1="-1" value2="1" value3="-1" />
                        <GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION value1="1" value2="-1" value3="1" />
                        <ACCEL_SCALE value="1" />
-                       <GYRO_SCALE value="1160" />
+                       <GYRO_SCALE value="1150" />
                        <GEOMAGNETIC_SCALE value="1" />
-                       <MAGNETIC_ALIGNMENT_FACTOR value="1" />
+                       <MAGNETIC_ALIGNMENT_FACTOR value="-1" />
                </ROTATION_VECTOR>
 
                <GEOMAGNETIC_ROTATION_VECTOR>
                        <NAME value="GEOMAGNETIC_RV_SENSOR" />
                        <VENDOR value="SAMSUNG" />
                        <DEFAULT_SAMPLING_TIME value="100" />
-                       <ACCEL_STATIC_BIAS value1="0.098586" value2="0.18385" value3="0.274" />
-                       <GEOMAGNETIC_STATIC_BIAS value1="0" value2="-37.6" value3="37.6" />
-                       <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="1" value3="1" />
+                       <ACCEL_STATIC_BIAS value1="0.046091" value2="0.127486" value3="0.10787" />
+                       <GEOMAGNETIC_STATIC_BIAS value1="-2.25" value2="-5.5" value3="1.35" />
+                       <ACCEL_ROTATION_DIRECTION_COMPENSATION value1="1" value2="-1" value3="1" />
                        <GEOMAGNETIC_ROTATION_DIRECTION_COMPENSATION value1="1" value2="-1" value3="1" />
                        <ACCEL_SCALE value="1" />
                        <GEOMAGNETIC_SCALE value="1" />
-                       <MAGNETIC_ALIGNMENT_FACTOR value="1" />
+                       <MAGNETIC_ALIGNMENT_FACTOR value="-1" />
                </GEOMAGNETIC_ROTATION_VECTOR>
        </DEVICE>
 </VIRTUAL_SENSOR>