Moving azimuth offset after rotation compensation

- moving computation of azimuth to range 0-360 after compensating
for azimuth rotation.
- initializing fusion sensor pointer.

Change-Id: Ie13af01dd3e76f2a3dd0bc1f2ae68726bcf3073d

diff --git a/src/orientation/orientation_sensor.cpp b/src/orientation/orientation_sensor.cpp
index aee027a..b9291e8 100755 (executable)
--- a/src/orientation/orientation_sensor.cpp
+++ b/src/orientation/orientation_sensor.cpp
@@ -63,6 +63,7 @@ orientation_sensor::orientation_sensor()
 : m_accel_sensor(NULL)
 , m_gyro_sensor(NULL)
 , m_magnetic_sensor(NULL)
+, m_fusion_sensor(NULL)
 , m_time(0)
 {
        cvirtual_sensor_config &config = cvirtual_sensor_config::get_instance();
@@ -244,6 +245,10 @@ void orientation_sensor::synthesize(const sensor_event_t &event, vector<sensor_e
                        azimuth_offset = AZIMUTH_OFFSET_RADIANS;
                }
 
+               euler.m_ang.m_vec[0] *= m_pitch_rotation_compensation;
+               euler.m_ang.m_vec[1] *= m_roll_rotation_compensation;
+               euler.m_ang.m_vec[2] *= m_azimuth_rotation_compensation;
+
                m_time = get_timestamp();
                orientation_event.sensor_id = get_id();
                orientation_event.event_type = ORIENTATION_RAW_DATA_EVENT;
@@ -257,10 +262,6 @@ void orientation_sensor::synthesize(const sensor_event_t &event, vector<sensor_e
                else
                        orientation_event.data.values[0] = euler.m_ang.m_vec[2] + azimuth_offset;
 
-               orientation_event.data.values[1] *= m_pitch_rotation_compensation;
-               orientation_event.data.values[2] *= m_roll_rotation_compensation;
-               orientation_event.data.values[0] *= m_azimuth_rotation_compensation;
-
                push(orientation_event);
        }