Swapping Tilt values for correct Pitch and Roll

  - Swapping pitch and roll orientation values to reflect the sample
sensor data reference axis correctly.
  - This correction is needed for determination of Gravity.
  - Gyroscope plots to use data scaled to 1 instead of PI.

signed-off-by: Ramasamy <ram.kannan@samsung.com>
Change-Id: I221e7efd0ab8278fa0caa3542edfb0d7efd55041

diff --git a/src/sensor_fusion/design/lib/estimate_orientation.m b/src/sensor_fusion/design/lib/estimate_orientation.m
index 7924e65..dfbbc18 100755 (executable)
--- a/src/sensor_fusion/design/lib/estimate_orientation.m
+++ b/src/sensor_fusion/design/lib/estimate_orientation.m
@@ -206,8 +206,8 @@ function [OR_driv, OR_aid, OR_err]  = estimate_orientation(Accel_data, Gyro_data
                quat_aid(i,:) = rot_mat2quat(Rot_m);
 
                euler = quat2euler(quat_aid(i,:));
-               roll(i) = euler(1);
-               pitch(i) = euler(2);
+               roll(i) = euler(2);
+               pitch(i) = euler(1);
                yaw(i) = euler(3);
 
                if i <= MOVING_AVERAGE_WINDOW_LENGTH
@@ -303,13 +303,13 @@ function [OR_driv, OR_aid, OR_err]  = estimate_orientation(Accel_data, Gyro_data
        OR_aid(3,:) = yaw * RAD2DEG;
 
        euler = quat2euler(quat_driv);
-       OR_driv(1,:) = euler(:,1)' * RAD2DEG;
-       OR_driv(2,:) = euler(:,2)' * RAD2DEG;
+       OR_driv(1,:) = euler(:,2)' * RAD2DEG;
+       OR_driv(2,:) = euler(:,1)' * RAD2DEG;
        OR_driv(3,:) = -euler(:,3)' * RAD2DEG;
 
        euler = quat2euler(quat_error);
-       OR_err(1,:) = euler(:,1)' * RAD2DEG;
-       OR_err(2,:) = euler(:,2)' * RAD2DEG;
+       OR_err(1,:) = euler(:,2)' * RAD2DEG;
+       OR_err(2,:) = euler(:,1)' * RAD2DEG;
        OR_err(3,:) = euler(:,3)' * RAD2DEG;
 
        if PLOT_SCALED_SENSOR_COMPARISON_DATA == 1
@@ -321,7 +321,7 @@ function [OR_driv, OR_aid, OR_err]  = estimate_orientation(Accel_data, Gyro_data
                p1 = plot(1:BUFFER_SIZE,acc_x(1,1:BUFFER_SIZE),'r');
                hold on;
                grid on;
-               p2 = plot(1:BUFFER_SIZE,gyr_x(1,1:BUFFER_SIZE),'b');
+               p2 = plot(1:BUFFER_SIZE,filt_Gx(1,1:BUFFER_SIZE),'b');
                hold on;
                grid on;
                p3 = plot(1:BUFFER_SIZE,mag_x(1,1:BUFFER_SIZE),'k');
@@ -331,7 +331,7 @@ function [OR_driv, OR_aid, OR_err]  = estimate_orientation(Accel_data, Gyro_data
                p1 = plot(1:BUFFER_SIZE,acc_y(1,1:BUFFER_SIZE),'r');
                hold on;
                grid on;
-               p2 = plot(1:BUFFER_SIZE,gyr_y(1,1:BUFFER_SIZE),'b');
+               p2 = plot(1:BUFFER_SIZE,filt_Gy(1,1:BUFFER_SIZE),'b');
                hold on;
                grid on;
                p3 = plot(1:BUFFER_SIZE,mag_y(1,1:BUFFER_SIZE),'k');
@@ -341,7 +341,7 @@ function [OR_driv, OR_aid, OR_err]  = estimate_orientation(Accel_data, Gyro_data
                p1 = plot(1:BUFFER_SIZE,acc_z(1,1:BUFFER_SIZE),'r');
                hold on;
                grid on;
-               p2 = plot(1:BUFFER_SIZE,gyr_z(1,1:BUFFER_SIZE),'b');
+               p2 = plot(1:BUFFER_SIZE,filt_Gz(1,1:BUFFER_SIZE),'b');
                hold on;
                grid on;
                p3 = plot(1:BUFFER_SIZE,mag_z(1,1:BUFFER_SIZE),'k');