From 866a049c502fc49ec750e02048cecb2e3fbe57ea Mon Sep 17 00:00:00 2001 From: "kibak.yoon" Date: Wed, 14 Jun 2017 20:17:15 +0900 Subject: [PATCH] sensord: rv: fix bug that the accuracy value is not changed Change-Id: I9a3020ae8e748e09dbb79e0e2f13cc8c3208d65d Signed-off-by: kibak.yoon --- src/sensor/rotation_vector/gyro_rv_sensor.cpp | 6 ++---- src/sensor/rotation_vector/magnetic_rv_sensor.cpp | 4 +--- src/sensor/rotation_vector/rv_sensor.cpp | 4 +--- 3 files changed, 4 insertions(+), 10 deletions(-) diff --git a/src/sensor/rotation_vector/gyro_rv_sensor.cpp b/src/sensor/rotation_vector/gyro_rv_sensor.cpp index 478e2ee..850118f 100644 --- a/src/sensor/rotation_vector/gyro_rv_sensor.cpp +++ b/src/sensor/rotation_vector/gyro_rv_sensor.cpp @@ -87,16 +87,14 @@ int gyro_rv_sensor::update(uint32_t id, sensor_data_t *data, int len) else if (id == SRC_ID_GYRO) m_fusion.push_gyro(*data); - if (m_accuracy > data->accuracy) - m_accuracy = data->accuracy; - if (!m_fusion.get_rv(timestamp, m_w, m_x, m_y, m_z)) return OP_ERROR; - if(timestamp == m_time) + if (timestamp == m_time) return OP_ERROR; m_time = timestamp; + m_accuracy = data->accuracy; _D("[rotation_vector] : [%10f] [%10f] [%10f] [%10f]", m_x, m_y, m_z, m_w); return OP_SUCCESS; diff --git a/src/sensor/rotation_vector/magnetic_rv_sensor.cpp b/src/sensor/rotation_vector/magnetic_rv_sensor.cpp index ef438ad..5e4cd74 100644 --- a/src/sensor/rotation_vector/magnetic_rv_sensor.cpp +++ b/src/sensor/rotation_vector/magnetic_rv_sensor.cpp @@ -87,9 +87,6 @@ int magnetic_rv_sensor::update(uint32_t id, sensor_data_t *data, int len) else if (id == SRC_ID_MAG) m_fusion.push_mag(*data); - if (m_accuracy > data->accuracy) - m_accuracy = data->accuracy; - if (!m_fusion.get_rv(timestamp, m_w, m_x, m_y, m_z)) return OP_ERROR; @@ -97,6 +94,7 @@ int magnetic_rv_sensor::update(uint32_t id, sensor_data_t *data, int len) return OP_ERROR; m_time = timestamp; + m_accuracy = data->accuracy; _D("[rotation_vector] : [%10f] [%10f] [%10f] [%10f]", m_x, m_y, m_z, m_w); return OP_SUCCESS; diff --git a/src/sensor/rotation_vector/rv_sensor.cpp b/src/sensor/rotation_vector/rv_sensor.cpp index cb37f42..c69cb6b 100644 --- a/src/sensor/rotation_vector/rv_sensor.cpp +++ b/src/sensor/rotation_vector/rv_sensor.cpp @@ -93,9 +93,6 @@ int rv_sensor::update(uint32_t id, sensor_data_t *data, int len) else if (id == SRC_ID_GYRO) m_fusion.push_gyro(*data); - if (m_accuracy > data->accuracy) - m_accuracy = data->accuracy; - if (!m_fusion.get_rv(timestamp, m_w, m_x, m_y, m_z)) return OP_ERROR; @@ -103,6 +100,7 @@ int rv_sensor::update(uint32_t id, sensor_data_t *data, int len) return OP_ERROR; m_time = timestamp; + m_accuracy = data->accuracy; _D("[rotation_vector] : [%10f] [%10f] [%10f] [%10f]", m_x, m_y, m_z, m_w); return OP_SUCCESS; -- 2.7.4