Fix sensor_util_get_orientation

[platform/core/api/sensor.git] / src / api / sensor.cpp

diff --git a/src/api/sensor.cpp b/src/api/sensor.cpp
index 6c3dd58..e5e6a32 100644 (file)
--- a/src/api/sensor.cpp
+++ b/src/api/sensor.cpp
@@ -27,13 +27,12 @@
 #include <sensor-private.h>
 #include <sensor-log-private.h>
 
-#define SENSOR_SHIFT_TYPE 16
-#define SENSOR_UNDEFINED_ID -1
-
-#define SENSOR_LISTENER_MAGIC 0xCAFECAFE
-
-#define CONVERT_AXIS_ENUM(X) ((X) < 3 ? (X) + 0x81 : (X) - 2)
+#define SENSOR_SHIFT_TYPE                   16
+#define SENSOR_UNDEFINED_ID                 -1
+#define SENSOR_LISTENER_MAGIC               0xCAFECAFE
+#define RAD2DEGREE                          (180/M_PI)
 
+#define CONVERT_AXIS_ENUM(X)                ((X) < 3 ? (X) + 0x81 : (X) - 2)
 #define CONVERT_OPTION_PAUSE_POLICY(option) ((option) ^ 0b11)
 
 #define WARN_DEPRECATED_SENSOR(X) \
@@ -1032,9 +1031,11 @@ int sensor_util_get_orientation(float R[], float values[])
        if (!R || !values)
                return SENSOR_ERROR_INVALID_PARAMETER;
 
-       values[0] = (float) atan2(R[1], R[4]);
-       values[1] = (float) asin(-R[7]);
-       values[2] = (float) atan2(-R[6], R[8]);
+       values[0] = atan2f(-R[3], R[0])  * RAD2DEGREE;
+       values[1] = atan2f(-R[7], R[8])  * RAD2DEGREE;
+       values[2] = asinf (R[6])         * RAD2DEGREE;
+       if (values[0] < 0)
+               values[0] += 360;
 
        return SENSOR_ERROR_NONE;
 }