9-axis sensor fusion with Kalman filter

Add support for 9-axis gravity and linear-acceleration sensors
virtual orientation sensor using 9-axis fusion

Change-Id: I6717539373fce781c10e97b6fa59f68a831a592f

1 files changed, 5 insertions, 2 deletions

diff --git a/services/sensorservice/GravitySensor.h b/services/sensorservice/GravitySensor.h
index decfbb8..0ca3a3c 100644
--- a/services/sensorservice/GravitySensor.h
+++ b/services/sensorservice/GravitySensor.h
@@ -22,7 +22,6 @@
 
 #include <gui/Sensor.h>
 
-#include "SensorDevice.h"
 #include "SensorInterface.h"
 #include "SecondOrderLowPassFilter.h"
 
@@ -30,13 +29,17 @@
 namespace android {
 // ---------------------------------------------------------------------------
 
+class SensorDevice;
+class SensorFusion;
+
 class GravitySensor : public SensorInterface {
     SensorDevice& mSensorDevice;
+    SensorFusion& mSensorFusion;
     Sensor mAccelerometer;
     double mAccTime;
 
     SecondOrderLowPassFilter mLowPass;
-    CascadedBiquadFilter mX, mY, mZ;
+    CascadedBiquadFilter<float> mX, mY, mZ;
 
 public:
     GravitySensor(sensor_t const* list, size_t count);