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Commit b2397fff authored by Mathias Agopian's avatar Mathias Agopian Committed by Android (Google) Code Review
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Merge changes Id5584bc1,I8ca826d0 

* changes:
  revert parts of dc5b63e4, which made gyro drift estimation unstable
  use gyro timestamp directly in fusion
parents af0f8c0a 24f9bea8
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