Updating estimate_orientation call to output quaternions

- Updating the estimate_orientation ocatave implementation to output
orientation values in terms of quaternions instead of euler angles.
- cleanup

Change-Id: Ida5a39a3270eafb26807a1bf218f3d48c32d789b

diff --git a/src/sensor_fusion/design/lib/estimate_orientation.m b/src/sensor_fusion/design/lib/estimate_orientation.m
index d20ac6c..187ef38 100755 (executable)
--- a/src/sensor_fusion/design/lib/estimate_orientation.m
+++ b/src/sensor_fusion/design/lib/estimate_orientation.m
@@ -18,17 +18,13 @@
 %
 % - Orientation Estimation using Gyroscope as the driving system and Accelerometer+Geo-Magnetic Sensors as Aiding System.
 % - Quaternion based approach
-% - Estimation and correction of Euler errors and bias errors for gyroscope using Kalman filter
+% - Estimation and correction of orientation errors and bias errors for gyroscope using Kalman filter
 
-function [OR_driv, OR_aid, OR_err]  = estimate_orientation(Accel_data, Gyro_data, Mag_data)
-
-       LOW_PASS_FILTERING_ON = 0;
+function [quat_driv, quat_aid, quat_error]  = estimate_orientation(Accel_data, Gyro_data, Mag_data)
        PLOT_SCALED_SENSOR_COMPARISON_DATA = 0;
        PLOT_INDIVIDUAL_SENSOR_INPUT_DATA = 0;
+
        MAGNETIC_ALIGNMENT_FACTOR = -1;
-       PITCH_PHASE_CORRECTION = -1;
-       ROLL_PHASE_CORRECTION = -1;
-       YAW_PHASE_CORRECTION = -1;
 
        GRAVITY = 9.80665;
        PI = 3.141593;
@@ -95,12 +91,6 @@ function [OR_driv, OR_aid, OR_err]  = estimate_orientation(Accel_data, Gyro_data
        quat_driv = zeros(BUFFER_SIZE,4);
        quat_aid = zeros(BUFFER_SIZE,4);
        quat_error = zeros(BUFFER_SIZE,4);
-       euler = zeros(BUFFER_SIZE,3);
-       Ro = zeros(3, 3, BUFFER_SIZE);
-
-       OR_driv = zeros(3,BUFFER_SIZE);
-       OR_aid = zeros(3,BUFFER_SIZE);
-       OR_err = zeros(3,BUFFER_SIZE);
 
        % system covariance matrix
        Q = zeros(6,6);
@@ -252,21 +242,6 @@ function [OR_driv, OR_aid, OR_err]  = estimate_orientation(Accel_data, Gyro_data
                By = x(5,i);
                Bz = x(6,i);
        end
-
-       OR_aid(1,:) = roll * RAD2DEG;
-       OR_aid(2,:) = pitch * RAD2DEG;
-       OR_aid(3,:) = yaw * RAD2DEG;
-
-       euler = quat2euler(quat_driv);
-       OR_driv(1,:) = ROLL_PHASE_CORRECTION * euler(:,2)' * RAD2DEG;
-       OR_driv(2,:) = PITCH_PHASE_CORRECTION * euler(:,1)' * RAD2DEG;
-       OR_driv(3,:) = YAW_PHASE_CORRECTION * euler(:,3)' * RAD2DEG;
-
-       euler = quat2euler(quat_error);
-       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
                % Accelerometer/Gyroscope/Magnetometer scaled Plot results
                hfig=(figure);