sensor: fix problem that gyroscope rotation vector does not work

Change-Id: I7a6e4305bb982d36c87cc4b2f3789c0b09f02c55
Signed-off-by: kibak.yoon <kibak.yoon@samsung.com>

diff --git a/src/sensor/rotation_vector/fusion_utils/orientation_filter.cpp b/src/sensor/rotation_vector/fusion_utils/orientation_filter.cpp
index e352f5b..43ea867 100644 (file)
--- a/src/sensor/rotation_vector/fusion_utils/orientation_filter.cpp
+++ b/src/sensor/rotation_vector/fusion_utils/orientation_filter.cpp
@@ -285,15 +285,9 @@ inline void orientation_filter<TYPE>::time_update_gaming_rv()
        euler_aid = quat2euler(m_quat_aid);
        euler_driv = quat2euler(m_quat_output);
 
-       if ((SQUARE(m_accel.m_data.m_vec[1]) < ACCEL_THRESHOLD) && (SQUARE(m_gyro.m_data.m_vec[0]) < GYRO_THRESHOLD)) {
-               if ((SQUARE(m_accel.m_data.m_vec[0]) < ACCEL_THRESHOLD) && (SQUARE(m_gyro.m_data.m_vec[1]) < GYRO_THRESHOLD)) {
-                       if (SQUARE(m_gyro.m_data.m_vec[2]) < GYRO_THRESHOLD) {
-                               euler_angles<TYPE> euler_gaming_rv(euler_aid.m_ang.m_vec[0], euler_aid.m_ang.m_vec[1],
-                                               euler_driv.m_ang.m_vec[2]);
-                               m_quat_gaming_rv = euler2quat(euler_gaming_rv);
-                       }
-               }
-       }
+       euler_angles<TYPE> euler_gaming_rv(euler_aid.m_ang.m_vec[0], euler_aid.m_ang.m_vec[1],
+                       euler_driv.m_ang.m_vec[2]);
+       m_quat_gaming_rv = euler2quat(euler_gaming_rv);
 
        if (is_initialized(m_state_new)) {
                m_state_error.m_vec[0] = m_euler_error.m_ang.m_vec[0];