From eaba13ca4c498b2cdefe96cc02fbc0a4f0137063 Mon Sep 17 00:00:00 2001
From: Ramasamy <ram.kannan@samsung.com>
Date: Wed, 25 Mar 2015 14:52:37 +0530
Subject: [PATCH] Restructuring get_device_orientation flow

- restructuring orientation_filter::get_device_orientation flow for easier maintenance
- cleanup

Change-Id: Ie1bf8025d462d71146db2466b67a3e9f8585e31c
---
 src/sensor_fusion/orientation_filter.cpp           | 34 +++++++++++++---------
 .../orientation_sensor_main.cpp                    |  2 +-
 virtual_sensors.xml                                |  2 +-
 3 files changed, 22 insertions(+), 16 deletions(-)

diff --git a/src/sensor_fusion/orientation_filter.cpp b/src/sensor_fusion/orientation_filter.cpp
index 5aa4968..ae88a46 100644
--- a/src/sensor_fusion/orientation_filter.cpp
+++ b/src/sensor_fusion/orientation_filter.cpp
@@ -359,29 +359,35 @@ void orientation_filter<TYPE>::get_device_orientation(const sensor_data<TYPE> *a
 {
 	initialize_sensor_data(accel, gyro, magnetic);
 
-	if (magnetic != NULL)
+	if (gyro != NULL && magnetic != NULL) {
+
 		orientation_triad_algorithm();
-	else if (gyro != NULL)
-		compute_accel_orientation();
 
-	if (gyro != NULL) {
 		compute_covariance();
 
-		if (magnetic != NULL)
-			time_update();
-		else
-			time_update_gaming_rv();
+		time_update();
 
 		measurement_update();
 
-		if (magnetic == NULL) {
-			m_quaternion = m_quat_gaming_rv;
-		} else {
-			m_quaternion = m_quat_9axis;
-		}
+		m_quaternion = m_quat_9axis;
+
+	} else if (!gyro) {
+
+		orientation_triad_algorithm();
 
-	} else {
 		m_quaternion = m_quat_aid;
+
+	} else if (!magnetic) {
+
+		compute_accel_orientation();
+
+		compute_covariance();
+
+		time_update_gaming_rv();
+
+		measurement_update();
+
+		m_quaternion = m_quat_gaming_rv;
 	}
 }
 
diff --git a/src/sensor_fusion/test/test_projects/orientation_sensor_test/orientation_sensor_main.cpp b/src/sensor_fusion/test/test_projects/orientation_sensor_test/orientation_sensor_main.cpp
index a35a6ce..2710332 100644
--- a/src/sensor_fusion/test/test_projects/orientation_sensor_test/orientation_sensor_main.cpp
+++ b/src/sensor_fusion/test/test_projects/orientation_sensor_test/orientation_sensor_main.cpp
@@ -90,7 +90,7 @@ int main()
 
 		orientation.m_ang.m_vec[0] *= pitch_phase_compensation;
 		orientation.m_ang.m_vec[1] *= roll_phase_compensation;
-		orientation.m_ang.m_vec[2] *= azimuth_phase_compensation; 
+		orientation.m_ang.m_vec[2] *= azimuth_phase_compensation;
 
 		if (orientation.m_ang.m_vec[2] < 0)
 			orientation.m_ang.m_vec[2] += 360;
diff --git a/virtual_sensors.xml b/virtual_sensors.xml
index 8371d60..3210e4f 100755
--- a/virtual_sensors.xml
+++ b/virtual_sensors.xml
@@ -131,7 +131,7 @@
 			<DEFAULT_SAMPLING_TIME value="100" />
 		</GAMING_ROTATION_VECTOR>
 	</DEVICE>
-	
+
 	<DEVICE type="Mobile-RD-PQ_V2">
 		<FUSION>
 			<NAME value="FUSION_SENSOR" />
-- 
2.7.4