[GyroCal/OTC-Gyro] Updates to Meet 2017 Gyro Drift Specs
This CL syncs (Google3) required algorithms changes to meet gyro drift
specs for gyro devices with very large temperature sensitivities.
Changes Included:
- Linear extrapolation using the OTC temperature sensitivity model
parameter to provide faster offset compensation with changing
temperature.
- Added weighting to the least-squares fit routine. Weighting is based on
the age of the input model estimates. Heavier weighting is placed on
younger estimates, emphasiszing a local fit of the temperature
sensitivity function. As the model ages the weighting becomes more
uniform, emphasizing a fit of the overall trend.
- Safer GyroCal temperature tracking (keeps latest temperature when there
are insufficient statistics to compute the mean temperature during
stillness).
Tip of G3 CL: 163156270
Bug: 63366088
Test: Built and verified on hardware.
Change-Id: I57874aaf4c57a755cc8fa48e96b3025116939aec
4 files changed
