tree 9fa5485c402389383f175aafea91503263a62bf1
parent 93285ee787aa379e9a7777e8a1566b9b3bd3fdb3
author David Jacobs <davejacobs@google.com> 1501019215 -0700
committer David Jacobs <davejacobs@google.com> 1501034944 +0000

[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