use gyro timestamp directly in fusion
we used to estimate the gyro rate and deduce the period from that
but it turns out this is causing problems.
Bug: 5192288
Change-Id: I8ca826d0e11e488587bcaa1720de99e92b82f191
diff --git a/services/sensorservice/SensorFusion.h b/services/sensorservice/SensorFusion.h
index 4c99bcb..3c2244e 100644
--- a/services/sensorservice/SensorFusion.h
+++ b/services/sensorservice/SensorFusion.h
@@ -44,7 +44,7 @@
Sensor mGyro;
Fusion mFusion;
bool mEnabled;
- float mGyroRate;
+ float mEstimatedGyroRate;
nsecs_t mTargetDelayNs;
nsecs_t mGyroTime;
vec4_t mAttitude;
@@ -60,7 +60,7 @@
mat33_t getRotationMatrix() const { return mFusion.getRotationMatrix(); }
vec4_t getAttitude() const { return mAttitude; }
vec3_t getGyroBias() const { return mFusion.getBias(); }
- float getEstimatedRate() const { return mGyroRate; }
+ float getEstimatedRate() const { return mEstimatedGyroRate; }
status_t activate(void* ident, bool enabled);
status_t setDelay(void* ident, int64_t ns);