Merge pull request #18 from KalebKE/v1.1.5

v1.1.5

Author: KalebKE

fsensor/build.gradle

@@ -7,11 +7,15 @@ android {
     compileSdkVersion 26
     buildToolsVersion '26.0.2'
 
+    lintOptions {
+        abortOnError false
+    }
+
     defaultConfig {
         minSdkVersion 14
         targetSdkVersion 26
-        versionCode 1
-        versionName "1.0"
+        versionCode 5
+        versionName "1.1.5"
 
         testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
 

fsensor/src/main/java/com/kircherelectronics/fsensor/filter/fusion/OrientationFusion.java

@@ -245,8 +245,10 @@ protected Quaternion getGyroscopeRotationVector(Quaternion previousRotationVecto
     }
 
     protected void initializeRotationVectorGyroscopeIfRequired(Quaternion rotationVectorAccelerationMagnetic) {
-        rotationVectorGyroscope = new Quaternion(rotationVectorAccelerationMagnetic.getScalarPart(),
+        if(rotationVectorGyroscope == null) {
+            rotationVectorGyroscope = new Quaternion(rotationVectorAccelerationMagnetic.getScalarPart(),
                     rotationVectorAccelerationMagnetic.getVectorPart());
+        }
     }
 
     private float[] getFusedOrientation(float[] gyroscope) {