Adding support for computing tilt quaternion based on accelerometer

- support for sensor fusion algorithm to compute tilt quaternion

Change-Id: I32135f270acc4eb8de1811e6f29182614dd7ce54

diff --git a/src/sensor_fusion/orientation_filter.cpp b/src/sensor_fusion/orientation_filter.cpp
index ae88a46..c3a6c92 100644 (file)
--- a/src/sensor_fusion/orientation_filter.cpp
+++ b/src/sensor_fusion/orientation_filter.cpp
@@ -371,6 +371,12 @@ void orientation_filter<TYPE>::get_device_orientation(const sensor_data<TYPE> *a
 
                m_quaternion = m_quat_9axis;
 
+       } else if (!gyro && !magnetic) {
+
+               compute_accel_orientation();
+
+               m_quaternion = m_quat_aid;
+
        } else if (!gyro) {
 
                orientation_triad_algorithm();