Detailed Description

Expose AndroidImu through the navigation sensor contract.

Android sensor coordinates are device-relative: +X points to the right edge of the screen, +Y points toward the top of the screen, and +Z points out of the screen. OpenRoadCode navigation uses a vehicle frame with +X forward, +Y left, and +Z up.

The default phone mounting convention is portrait, screen facing up, with the top of the phone pointing toward the front of the vehicle. Under that convention the transform is::

vehicle_x =  android_y
vehicle_y = -android_x
vehicle_z =  android_z

The same rotation is applied to acceleration and angular velocity so the navigation estimator sees one consistent vehicle coordinate frame.

The documentation for this class was generated from the following file:

controllers/navigation/android_navigation_sensor.py