From: Ramasamy <ram.kannan@samsung.com>
Date: Fri, 15 May 2015 09:48:26 +0000 (+0900)
Subject: Adding support for computing tilt quaternion based on accelerometer
X-Git-Tag: submit/tizen/20151218.070016~81
X-Git-Url: http://review.tizen.org/git/?a=commitdiff_plain;h=5bfb197853878c3dd31072a612c1c64c6a7a4adc;p=platform%2Fcore%2Fsystem%2Fsensord.git

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
--- 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();