Merge "fix an overflow in the orientation sensonr calculations" into jb-mr1-dev

        private static final float PREDICTION_RATIO = 1.0f/3.0f;

        private static final float PREDICTION_TIME = (SENSORS_RATE_MS*COUNT/1000.0f)*PREDICTION_RATIO;

        private float mV[] = new float[COUNT*2];

        private float mT[] = new float[COUNT*2];

        private long mT[] = new long[COUNT*2];

        private int mIndex;

        public LmsFilter() {

        public float filter(long time, float in) {

            float v = in;

            final float ns = 1.0f / 1000000000.0f;

            final float t = time*ns;

            float v1 = mV[mIndex];

            if ((v-v1) > 180) {

                v -= 360;

            if (mIndex >= COUNT*2)

                mIndex = COUNT;

            mV[mIndex] = v;

            mT[mIndex] = t;

            mT[mIndex] = time;

            mV[mIndex-COUNT] = v;

            mT[mIndex-COUNT] = t;

            mT[mIndex-COUNT] = time;

            float A, B, C, D, E;

            float a, b;

            for (i=0 ; i<COUNT-1 ; i++) {

                final int j = mIndex - 1 - i;

                final float Z = mV[j];

                final float T = 0.5f*(mT[j] + mT[j+1]) - t;

                float dT = mT[j] - mT[j+1];

                final float T = (mT[j]/2 + mT[j+1]/2 - time)*ns;

                float dT = (mT[j] - mT[j+1])*ns;

                dT *= dT;

                A += Z*dT;

                B += T*(T*dT);