From 5bfb197853878c3dd31072a612c1c64c6a7a4adc Mon Sep 17 00:00:00 2001
From: Ramasamy <ram.kannan@samsung.com>
Date: Fri, 15 May 2015 18:48:26 +0900
Subject: [PATCH] Adding support for computing tilt quaternion based on
 accelerometer

- support for sensor fusion algorithm to compute tilt quaternion

Change-Id: I32135f270acc4eb8de1811e6f29182614dd7ce54
---
 src/sensor_fusion/orientation_filter.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

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();
-- 
2.7.4